Hello,
Please I am looking for something to detect the robot is still in movement.
Thanks,
Moelsayed
Hello,
Please I am looking for something to detect the robot is still in movement.
Thanks,
Moelsayed
If you have the DCS option on your robot, I've used the following in my background logic programs--should work in a standard TP program as well:
IF ($DCSS_PSTAT.$STATUS_CSC[1]=1),DO[62:IN MOTION]=(ON) ;
IF ($DCSS_PSTAT.$STATUS_CSC[1]=0),DO[62:IN MOTION]=(OFF) ;
Sorry I don't have any experience with DCS so first how can I check DCS option has been installed or not + after I changed $DCS_CFG.$DISP_MENU = 1 I got DCS in system menu.
but still I can not find your mentioned parameters + after I copied them to BG I got an error related to these parameters are not exist........
so what do you think ?
If the DCS Menu was disabled by default I would guess you don't have the option.
Has anybody tried to use the system variable: $MOR_GRP[X].$ROB_MOVE ? Watching it on a running robot seems to match what you're looking for, and I am able to use the parameter in TP instructions.
If the DCS Menu was disabled by default I would guess you don't have the option.
Has anybody tried to use the system variable: $MOR_GRP[X].$ROB_MOVE ? Watching it on a running robot seems to match what you're looking for, and I am able to use the parameter in TP instructions.
Yes, this works. I have this running in BG-Logic (Background task) which signals to a PLC that the robot is in motion.
DO[11:O_ROB_MVT]=($MOR_GRP[1].$ROB_MOVE)
Thank you So Much
Cool, I didn't know about the ROBMOVE variable. I'll put that in my toolbox.