YRC1000 how do I tell the PLC that the robot is in a certain interference zone

    Hi I have a GP-25 YRC1000 Robot and I am trying to set up a way for the PLC to know that the robot is in certain Cube/Axis Interference zones.

    I currently have it setup in a concurrent job like so


    NOP

    *LOOP

    DIN B058 SOUT#(58) // CUBE/AXIS INTR2

    DIN B059 SOUT#(59) //CUBE/AXIS INTR3

    ...

    DOUT OT#(153) B058 //PURGE_ZONE

    DOUT OT#(154) B059 //NEST_ZONE

    ...

    Jump *Loop

    END


    Is this the proper way of doing it so that the PLC can see where the robot is or is there a better way.

    I tried through ladder editor but it was giving me an error when trying to output to #30243 external output


    Thank you

    Hi


    Yes use concurrent job is one of methods for this work.

    Other method is use ladder editor, if you give error that is because the output address used in a BMOV instruction. For solve this problem check same as bellow:


    STR #70017

    BMOV #10010,510,#30030


    If you see the address #30243 is in this instruction. You must take out from it and use one by one.

    If you don't have knowledge to edit ladder don't use this method.

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