Recovering from SRVO-050

    Dear Gents,

    I have depalletizing program, which take plastic baskets (KLT) from a pallet.

    Sometimes the KLTs, are not placed very well and they don’t fit properly, meaning that top KLT do not inserted properly into the one below. As result, the top one is a little bit inclined. When the gripper tries to catch the KLT, SRVO-050 Collision Detect Alarm occurs.

    My goal is to make a routine, which in case of SRVO-050 Collision Detect Alarm, to return back the gripper and wait the operator to align the problematic KLT. Next when the operator reset the robot (from HMI), the process to continue.

    I wrote the following program but it doesn’t function as I expect. I addition, SRVO-050 suddenly stops to appear.

    ARC_KLT_ADAPTIVE_APRCH.LS

    1: //save curr pos on the top of KLTY ;

    2: PR[35:CurrentPos]=LPOS ;

    3: ;

    4: LBL[1:adaptive begin] ;

    5: ;

    6: !adaptive approach start ;

    7: LBL[10:adaptive start] ;

    8: // moves 90 mm down ;

    9:L PR[67:incZn90] 500mm/sec FINE INC ;

    10: //sensor that gripper is on the KLT ;

    11: SKIP CONDITION RI[4:plate WP]=OFF ;

    12:L PR[68:incZn30] 200mm/sec FINE Skip,LBL[15] INC ;

    13: //sensoe that gripper is on pos. to catch KLT ;

    14: SKIP CONDITION RI[3:plate HP]=ON OR ERR_NUM=11050 ;

    15:L PR[66:incZn50] 100mm/sec FINE Skip,LBL[15] INC ;

    16: ;

    17: //check if the stop is because of sensor or error;

    18: IF (RI[3:plate HP]=OFF) THEN ;

    19: //if RI[3] still off, must be the fault occur. Go UP!;

    20:L PR[35:CurrentPos] 500mm/sec FINE ;

    21: UALM[2] ;

    22: JMP LBL[10] ;

    23: ENDIF ;

    24: ;

    25: ;

    26: JMP LBL[100] ;

    27: ;

    28: LBL[15:P20] ;

    29:L PR[35:CurrentPos] 500mm/sec FINE ;

    30: UALM[7] ;

    31: JMP LBL[10] ;

    32: ;

    33: LBL[100:END] ;

    Any advices and recommendations will be highly appreciated.

    Best regards,

    Svetozar Yolov

    A collision detection will fault the robot and pause your program.

    Instead of waiting for a full on collision, you could monitor the disturbance torque to trigger your skip condition before it faults out.

    I'm sure someone has posted an example of this if you search the forum.

    Search for $MISC[1].$HPD_TRQ

    Dear HawkME,

    Many thanks for the advice and info.

    I use torque values in my program. Here is the code:

    13: SKIP CONDITION RI[3:plate HP]=ON+ OR $MISC[1].$hpd_trq[2]<=R[40:distTorqMax] OR $MISC[1].$hpd_trq[3]<=R[40:distTorqMax] ;

    14:L PR[66:incZn50] 100mm/sec FINE Skip,LBL[15],PR[80:adaptGrpPosition]=LPOS INC ;

    Unfortunately I suffer from error:

    INTP-203 (ARC_KLT_ADAPTIVE_APRCH, 13) Variable type mismatch" " STOP.L 00000110" act"

    It is strange that rows 13 & 14 was executed one time and on the next pass a fault starts to occur!

    Any ideas?

    Regards,

    Svetozar

    Set the variable $MISC_MSTR.$hpd_enb to TRUE and do a cold start.

    Then If it still doesn't work try to simplify to only 1 comparison in you skip condition and use a constant instead of a register. Once you get it working you can start to add back the more complex conditions one at a time.

    Dear HawkME,

    Many, many thanks for the advices.

    $MISC_MSTR.$hpd_enb is already set to TRUE. This is a prerequisite, in order $MISC[1].$hpd_trq[9] to be updated.

    I followed your advice and I put constant (in my case -8.9) for axis 2 & 3. It works now.

    My understanding is that there is a bug in robot firmware. As I told you the first pass of program succeed and at next step when I begun to play, the fault INTP-203 starts to appear.

    Any way, I put OR expression for both axis 2 & 3 and used constant instead of register.

    It works as charm now.

    Thank you one more time.

    Regards,

    Svetozar

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