Move to Home Pos in Ext mode

    Hi,

    I have a KRC4 running 8.5.8 and have set up external mode to be controlled via PLC.

    I have tested all of the External IO signals required and everything works correctly with regards the calling of the program and program starting, etc.

    However for all of my testing I have been selecting T1 mode selecting cell.src, performing BCO, then selecting Ext mode and program starts.....

    I would like to not have to perform the selecting of T1 and manually running cell& BCO. I would like to have all of this handled automatically. I have powered down the controller and restarted in Ext mode and the cell.src program opens on the smartpad but stops on the line "CHECK HOME". A fault message then appears stating "move to home position in T1 mode"

    From reading the documentation and other posts I had assumed once the system booted up in ext mode, a BCO run would not be required.

    Is there something that I have missed that needs to be modified to achieve this?

    Thankyou

    As a test, commenting out the IF statement within this "CHECK HOME" section seems to have allowed the auto home PNP move to complete and the robot to start as I intend. However I am unsure whether this the correct procedure.

    Another issue that is present, is that on initial power up or after a safety stop the PERI_RDY signal does not go high after a DRIVES_ON pulse from the PLC. If I go into T1 mode and enable the drives via the SP, then back in Auto Ext mode everything works fine.

    While running the running program I can stop the program via a CWRITE Stop then cancel command and restart it via a it CWRITE Run cell() command and it stops and restarts no problem because the drives do not turn off. See some images of my External IO status while pulsing the DRIVES_ON signal and PERI_RDY not turning on.Drives_ON.docx

    Edited once, last by Stampy (March 6, 2021 at 3:24 PM).

    you need to refer to manual...

    timing diagrams show what need to happen before next transition can take place. before pulsing $DRIVES_ON, signals $DRIVES_OFF and $MOVE_ENABLE need to be on.

    there is no reason to comment out that IF statement. it is enough to simply toggle variable called CHECK_HOME

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    If the CELL.SRC requires the robot to be HOME then I cannot use the CELL.SRC to run a program to safely take me to home.

    If I just change the variable CHECK_HOME = FALSE ... no evaluation is done and the robot will accelerate directly to home with 100% velocity.

    Is it advisable then to get rid of both the

    ;FOLD CHECK HOME

    ;FOLD PTP HOME

    So that the CELL.SRC will start running the CASE loops.
    Then I can use my PLC logic to check if the robot is not Home I can run the "BringMeHomeSafely()" program.

    As panic mode already said, you can do it, but doing it:

    Quote from Koppel

    Then I can use my PLC logic to check if the robot is not Home I can run the "BringMeHomeSafely()" program.

    is a bad Idea. At least without doing some more check in the other routines called by cell.src.

    Robot program is responsible for not creating a crash. So robot has to move to home before doing something else, he has not to wait for any job and 'hope' that PLC will call the homing routine if he is not in home. Have seen some cells that acted like that and have been crashed.

    that is true. and it is not just robot movements that need to be considered but also state of tooling. if the robot is using gripper to hold something that is also clamped by something else for example (CNC chuck or whatever). so creating own home recovery can be tricky and require a lot of attention to detail.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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