I'm not sure, never used that. Why not just use the hold signal to pause the robot?
Does anyone know if Zero % Override works with the variable $mcr.$genoverride. In config I’ve got option enabled and it works ok when I’m setting the speed from TP but it doesn’t work when I’m using the PLC to control $mcr.$genoverride.
It seems that I can’t set $mcr.$genoverride to 0. When my GI is 0 the robot still moves very slowly. Is the any way to set the 0 speed from the PLC?
Few times I sent 0 % to $mcr.$genoverride and every time after that I was losing communication with Robot for ~2 minutes. Then I block possibility to send 0 % from PLC and started using hold signal.
I have that setting in System/config in a V9.30 robot, and tested it.
Using the teach pendant +/- % buttons, I can set to 0%
Tried $MCR.%GENOVERRIDE = 0 in a program, it did change the variable to 0 (the robot said Very Fine)
but as I stepped thru a program and hit the 1st motion, the override went to Fine and the following error popped up, it did continue running though.
MOTN-322 Invalid Genoverride (G:1)
Ps. can't do a OVERRIDE = 0 command in the programs
Since the Zero % Override does not work really reliable, I would suggest using a combination with the HOLD signal. In case the PLC sends a 0% Override (e.g. via GI), the PLC should drop the HOLD signal. With an override >0% the PLC can trigger START for continue.
If you take a look on the GENOVERRIDE system variable, you can see that the value will never change to 0. 1 ist the minimum. Therefore, a combination with HOLD is a safe way to stop the robot in case of 0% override.
Update on this topic:
The Zero % Override setting from the System/Config menu is only working in combination with the Override Select function (MENU > SETUP > Ovrd Select). When Zero % Override is set to TRUE and the Override Select function is configured and enabled, it is possible to send an override of 0 and stop the robot without dropping the Hold signal. The system variable $MCR.$OVR_ZERO indicates if the override is 0 (TRUE) or <>0 (FALSE).
BTW: From software version 7DF3 (V9.30P/18) or later and 7DF5 (V9.40P/15) or later, it is possible to configure a GI for the override value.
Hello DS186,
Thanks for the input. I am trying to use the Override Select menu to define 0% override. It does not allow me to define that since the range of Override expected is from 1 to 100. Could you please explain me how to achieve 0% override by using Zero % Override = TRUE and Override Select menu (Using DI)?
Thanks and Regards
Anand
Using an override of 0 is only possible with the GI mode.
Again regarding this topic, I tried configuring the Group Input for Override Select and then tested it, but there seems to be a little delay (~0.5 seconds) from the Group Input going to 0 and the robot stopping completely. If I am not wrong, shouldn't Override = 0 bring the robot to standstill immediately?
This is normal behavior. The controller requires some time to process (accelerate/slow down/stop) a new override value. I have never measured the time but there is definitely a delay.
Okay. Thank you for the response.
Umm... I would like to include the zero override for a robot that works loading a numeric control, currently I have it working with the override select bits, but the problem is I cannot get it to be zero.
I've tried by mofifying the system variables directly and I even got it working setting zero speed using a bglogic that emulated the override select function, but the tp doesn't like it very much and it freezes when someone changes speed from 50% to 0% very fast.
My problem is that I cannot use a Gi as I have not more avaiable bits and I cannot bump it to 128bytes as communication is already slow due to the old hardware.
Edit: I've found a way, you can map rack 34, slot 1 with a byte to any GI you want, this will connect the flag bits to a GI input that you can later use on the override select function.
I've just created a bglogic program that checks the the original override bits and sets the 8 first flag bits with the speed values I want, emulating the old override select function but on this case, if both inputs are off, it sets all flags to off. Works perfectly fine now.
Edit2: I've found thanks to a post from HawkMe that you can also do this by using the Rack 0 to map a new memory area, on Rack 0 DI and DO / GI and GO share the same memory region, so you can just create a GI group and a GO group pointing to the same area and write a number directly to that GO. It will be automatically read on the GI and you can use this same method but writting directly the speed instead of messing around with flag status.
