continuously monitor a GI signal

    HI,

    I need to monitor the value of a laser during a linear movement of the robot.

    The laser gives me an instantaneous reading of the part and passes me a GI signal.

    I am looking for a solution similar to the "SearchL" instruction but which works with GI signals.


    The aim is to stop the robot's path when the laser detects a certain height.


    In kuka I can do this without any problems, but with ABB I cannot find a solution.


    Can you help me? :tired_face:

    thanks

    ISignalAI instruction will allow you to trigger an interrupt from an analog value. You should be able to remap you GI to an AI representation. With this, you can specify a value which represents the desired height interrupt. You will have to experiment with the scaling, but you should be able to do so.

    A LOT more crass than Lemster's solution (provided your system has multitasking) would be to monitor the group input you have with a background task (monitoring activated by a persistent Boolean variable & using the desired robot for the task's Use Mechanical Group) in a WHILE DO loop then stop once the condition is met.


    WHILE bMonitorActive DO

    WHILE GInput(gi_LaserValue)>nDesiredHeight DO

    WaitTime 0.001;

    ENDWHILE

    StopMove;

    bMonitorActive:=FALSE

    WaitTime 0.001;

    ENDWHILE


    Yes, this is only a snippet.

    Edited once, last by SomeTekk ().

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