Is it possible to activate one DO when i reach the point?

    I am going to try to explain it correctly...


    The robot goes to one PR:

    L PR[36:Cell ] R[100]mm/sec FINE

    The robot reach this point and the program ends.


    In that moment i should to receive one DigitalSignal from this robot saying:"I reach this point". But i don´t receive this signal in my PLC...

    Logically, there is not an DO[]=On, after this PR.

    The question is if exist another way to activate this signal...?

    Maybe in one Backgorund program?


    Thank you so much guys!

    To indicate the robot being within a specific position range (which is not necessarily the same as arrived there as a result of program execution), any of the following may be used:

    - Reference position (in joint coordinates only).

    - Space function, in world coordinates.

    - BG Logic with actual position reading (cartesian coordinates may be accessed in software v9, joint coordinates in any version).

    - Interference check.

    I agree. If this is a program completion signal use DO in program. If this is a position confirmation use RefPos or other method Sergei mentioned. Less chance error that way if the DO is accidentally changed.

    Thank you so much !!!

    Problem solved!


    I didn't remember that , however Ref Posn send me a signal when the robot reach this point!

    Quote from Fabian Munoz

    Just curious What is the problem putting the DO after the PR ?

    I can't modified this program...

    Plus, the program should run like they send me...

    So, now i know how the robot send me this signal, with the ref posn

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