I am currently working on a return to home program and have a few questions. I am running robot in remote mode with plc inputs/outputs. I have set up a Main program that is just basically looping and looking for a plc input in order to call 1 of 3 sub programs. Once in one of these programs I am wondering what is the best method to return to home in case of a faulted condition. I am setting up a PB on an HMI screen for the return to home command. So if I monitor that input in each of the 3 programs while in auto, will that return to home program automatically run and will the main be reloaded after. What would be the order if I go to manual and give the return to home command. Any help would be greatly appreciated, Thanks!!!!
Returning robot to home
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Jerryl859 -
January 28, 2021 at 1:40 PM -
Thread is Unresolved
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I set it up so that the home PB on the HMI only works if the robot program is stopped (which it will be if faulted). Then the PLC pulses reset, then pulses abort (cstopi), then pulses Prod start. Prod start will start the main program, of which the first line of code is your home routine. The home routine must safely get home from any where it could be.
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So will this work the same way in auto and manual?? Just so I understand, when you say the first line of code in the main program needs to be the return to home routine, I need to have that pb input there if on otherwise ignore it?? Sorry just wanting to make sure I understand correctly.
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You just need to map your PB input to User Input 7. Whenever that button gets pressed while in a remote condition, robot will run the home MACRO. No need to monitor anything.
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There is a couple different ways to do it. If you go home at the beginning of your main program then it is just a normal part of starting the program. It would go home then wait for the PLC to tell it to start a sub program.
You can also do it the way Droth has mentioned by assigning your home program as a Macro. In that case you use UI[7] instead of UI[18].
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Ok, thanks to both for the info.