Greetings... I want to make an offset of one of the planes of the robot while it is running. As in hot edit, but by using the HMI. Has anyone done this? I'm using the robot to polish parts and need to adjust for tool wear. Thanks
Making a offset using HMI while running AW controller
- kirbyk
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kirbyk
Changed the title of the thread from “Making a offset using HMI wile running AW controller” to “Making a offset using HMI while running AW controller”. -
So I think what Im going to do is create a number of programs with the same steps... just teach each incremented program closer to the wheel. I'll put a jump to program(next one) if a assigned input it true. In the PLC ill latch that input and each program will have an output set to unlatch the input bit... so i can push the 'move in' button on the HMI and if I need to go in farther, keep pushing it.. the program will keep jumping till Im satisfied with the load. Of course the AW11 cant give me an analog load output back to my plc/HMI so I'll put current transformers either on the buffer or the robot for feedback. I could latter do a compare function in the plc and move the setpoint with the HMI and let the PLC advance to the needed program. Its too bad that I cant see a way to guide this robot with vision. I have numerious cognex cameras..... I have some ideas for picking up the parts... and because there are so many different sized balls to pick up, I need to design a way to quickly exchange acuators and gripper.... ID and OD. Cant wait to get started. I think we are going to order the robot next week. Oh... and instead of putting th robot in a cage.... I'm going to set it inside a light curtain... I believe I can meet all the requiremnts of ANSI/RIA R15.06 AND ISO 13849 by following up with a finial comprehensize risk assessment. Well enought for now.... for those of you whom might be interested, i"ll post more later. Now lets see, converting the 3.5 floppy
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