stoping and resuming movement using UI signals

    Hi,

    I am using Modbus TCP to communicate between my PC and virtual controller inside Roboguide. I have installed necessary software options such as SNPX R553 (HMI device), and setup SNPX_PARAM system variable, as well as, setup some registers such as DOs, and R[x] via SNPX_ASG options.

    I am able to read from DOs and R[x] using these settings. On the PC, I have a small python based script that is based on pymodbus.

    Currently, I want to test stop and resume movements of the robotic arm. Imagine a scenario, where we want to pause the movement if some condition occurs, and as soon as that condition is invalid, we resume the motion. I came to know that under UOP, UI[2] and UI[6] can be used to stop and resume the motion.

    Can we write to these remotely (from PC) using modbus TCP. Will it be equivalent to write_coil function?

    thanks for your help.

    Zahid

    Of course you can! You can stop it as long as signal is in high state or untill you don't earse data from for example register. I mean you can make it stopped as long as you push the button, or you can make it resume till you press another button (or signals...).

    In this video from 14;14 timothy shows where to activate this and how to use this command.

    I recommend you using hold instead of stop because as far as i know - hold slowly stops the robot, while stop is emergency stop using brakes and may cause damage in often use.

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    I don't know much about UOP, but you can use your modbus input as simply hold, or two inputs making RS logic with just one register memory cell.

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