sps.sub user PLC section

The working code for analogical robot speed control in Automatic Mode with an external potentiometer ( analogical input), to be added in sps.sub is fallowing :

;FOLD USER DECL

;please insert user defined declarations

DECL REAL nPLCSpeed

SIGNAL iPLCSpeed $ANIN[1] ; robot speed control from external potentiometer

;ENDFOLD (USER DECL)

;ENDFOLD (DECLARATIONS)

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.

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LOOP

WAIT FOR NOT($POWER_FAIL)

TORQUE_MONITORING()

;FOLD USER PLC

;Make your modifications here

IF $AUT THEN : only apply PLC speed in Automatic Mode

nPLCSpeed = iPLCSpeed ; transcribe input byte to integer

IF nPLCSpeed<0 THEN

nPLCSpeed=0 ; avoid negative values

ENDIF

IF nPLCSpeed>0 THEN

nPLCSpeed=100 ; OV_PRO only accepts integers between 0 and 100

ENDIF

$OV_PRO=100.0*$ANIN[1] ; write speed to $OV_PRO

ENDIF

ENDLOOP

Note that underlined code line will give you when edit in WV a warning message that should be ignored not supressed with ;

The message is:

"When using a value of type 'REAL' for a parameter of type 'INT' some values may not be initialized correctly"

If you supress the message, just to have a clean syntax in Work Visual, will not function.

Important is to have no error, warnings are just warnings, do not block.

I also awarn that use of potentiometer in robot speed control should be done by end user with maximum attention, because is very easy to hit the button and instead 10% suddenly to reach 100%.

Is more safe digital control with +/- from smartpad or external digital button if needed.

Thank you Skyfire,PanicMode,Herman for your sugestions that lead me to solve this request.

Yes nPLCSspeed is declared as real, if try to define as integer , iPLCSpeed becomes red, not accepted.

Your code simplified I think is better since potentiometer is 0-10V, and couldn't give for nPLCSpeed negative values or higher than 100.

I will try it, if works will be adopted.

Thank you !

Therefore, still testing today robot behaviour, Submit Works fine, do not stop anymore.

Running a simple src programm, in T1 os ok, in AUT is ok too a while, Robot Speed can be setted from potentiometer, but appear an error and stop, not in the same line , randomly saying

"OVM invalid value"

originator R1/nonname.src....my testing program

I think it happen when I try to vary robot speed while running.

When fix a speed from potentiometer and run in auto keeping it unchanged, run all program ok.

Maybe I am wrong, but what about refer OVM value?

It is linked by OV_PRO?

I don't think is a problem with the program since in T1 is running well.

I found some line reffering to OVM in tm bib.src

I think is linked by OV_PRO when torque monitor.

Or collision detection.

Vary on OV_PRO from potentiometer while runing, change torque values and maybe robot could interpret this as a collision and stop movement.

Should I deactivate collision detection?

Issue solved.

OVM invalid value. kss01422

Robot stopping when in Auto vary OV_PRO.

Problem was in tm_bib.src and I comment out two lines .

Now robot moves continue in Auto Mode and speed can be varied while running program.

See attached photo.