Monitor status change of conveyor carriage on Fanuc

    Hey everyone. I’m looking for the best logic to monitor the movement of a conveyor carriage off of a sensor, and then the next subsequent one.


    For example: My robot is going to place a part on a carrier that rides the conveyor. Currently I have one DI coming In to robot to tell me the carriage is in position. Once the carriage is in position, the robot should place the part in the carriage, and wait for it to move. Once the next carriage comes into place, I need to tell the robot to place another part. The DI status will remain on for the carriage until it moves, so I cannot use a simple wait. They don’t want me to modify the PLC logic, so all I can do is monitor the existing carriage sensor. Best path on this one?

    I usually use background logic to keep track of carrier status with a register.


    In my TP program:


    WAIT DI[IN_POSITION] = TRUE AND R[x] = 0

    (Place Product in Carrier)

    R[x] = 1


    Then, in the background;


    IF R[x] = 1 and DI[IN_POSITION] = FALSE, R[x] = 0

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