Control with a single signal condition

Dodo41 · Jan 19th 2022

Hello everyone. I need help with an issue, I hope you can help. On my IRC 5 Robot, for example, in the Weld_Left Routine file, I want to check the water flow before each source of the robot. As an example I have a signal called WaitDI waterflow_ok. Robot codes in the Routines file: 1-MoveJ

2-MoveL

3-WaitDI waterflow_ok

4-Spot

5-MoveL

6-WaitDI waterflow_ok

7-Spot

8-MoveL

9-WaitDI waterflow_ok

10-spot

this way, instead of adding WaitDI waterflow_ok command one by one before each spot command, by adding one command to this routine file

I want to ensure that the robot does not continue its movements when the WaitDI waterflow_ok signal is not received. How can I do that? Does anyone have knowledge? Thanks.

Nation · Jan 20th 2022

An interrupt would be prefect for this, assuming no PLC. This is usually handled by a PLC.

Anyway, if there is no PLC involved, the relevant commands would be ISignalDI and CONNECT.

I recommend reading the reference manual on it, but the gist is you connect the interrupt to a signal and a routine. When the signal goes low (or high, depending) the interrupt routine is called immediately, and you can do the appropriate recovery in there.

Dodo41 · Jan 20th 2022

My robot is working with PLC Control.

Where can I find a reference guide? Do you have a sample project? Thank you.

Lemster68 · Jan 20th 2022

Are you using Spotware?

Dodo41 · Jan 20th 2022

yes I'm using

Lemster68 · Jan 20th 2022

Spotware comes with a module named SWUSER, it is intended to be customized by the end user. As such what you need to do is to code the appropriate routine to check what you need. Here are some examples:

Code

  ! sw_preweld_sup:
  ! if anything goes wrong, just set an
  ! error message in errtext.
  ! User defined code:
  PROC sw_preweld_sup(
    num eqid,
    VAR string errtext)

    IF sw_inhib_weld=FALSE AND sw_sim_weld=FALSE THEN
      IF timer_ready=0 THEN
        Set reset_fault;
        WaitTime sw_reset_time1;
        Reset reset_fault;
        WaitTime sw_reset_time2;
      ENDIF
      IF timer_ready=0 THEN
        errtext:="Timer not ready";
      ENDIF
      IF flow_ok=0 THEN
        errtext:="Water supply error";
      ENDIF
      IF temp_ok=0 THEN
        errtext:="Overtemperature";
      ENDIF
      IF current_ok=0 THEN
        errtext:="Weld current error";
      ENDIF
    ENDIF
  ENDPROC
  PROC sw_Water_on()
    Set doWaterOn;
    WaitUntil flow_ok=1 AND Pressure_ok=1\MaxTime:=3.5;
  ERROR
    TEST ERRNO
    CASE ERR_WAIT_MAXTIME:
      Reset doWaterOn;
      sw_Water_off;
    ENDTEST
  ENDPROC

  PROC sw_Water_off()
    VAR num nDummy;
    CONST string asterrtext1{1}:=["The Water Flow or Pressure has Faulted"];
    CONST string asterrtext2{1}:=["Press OK when problem has been fixed"];

    SetDO weld_power,0;
    TPErase;
    TPWrite asterrtext1{1};
    TPReadFK nDummy,asterrtext2{1},"","","","OK","";
    sw_Water_on;
  ENDPROC

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Control with a single signal condition

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