R-30iA Collision Detect - Monitor within program

    Hey Gang - R30iA controller running V7.50 HandlingTool. Got a sporadic crash that occurs during an OffSet move, so on recovery (alarm ack and restart from PLC) the robot continues its move with the offset, resulting in repeated crashes.

    I don't think I can replace the offset with defined moves, so I would like to run a 'GoHomeSafe' program on restart if collision detect was the reason for the pause. And I'm hoping for some help for the easiest way to do it.

    I know I've got a DO set to alert the PLC of collision detect, so I could watch that and either set a flag or registry value in BG logic....but that feels really clunky to me.

    There's got to be a slick way to do this I'm not thinking about, right?

    If the PLC aborts all programs and then starts you back up you can do a simple check to see if you are home. If you are not home you can create a recovery program to make it home safely. I do not know how clear your path is after a crash to make it back home but it could be as simple as

    PR[X]= Lpos

    PR[X,3]= a specific Z height

    L PR[X]500mm/sec fine

    L PR[54Home]500mm/sec fine

    If it is more difficult you could use registers to know where you are in the program and work your way back through a recovery program.

    For example, if you crash at a pick point set a Register to 1 so you know your location of the crash, or if you are at a place point set that register to 2.

Advertising from our partners