Hello,
How do I set the robot to stop and allow entry into the cell based on a request from the PLC (DI_ request to open the door) and then to continue the process without switching to manual mode?
are there any examples of this command?
Hello,
How do I set the robot to stop and allow entry into the cell based on a request from the PLC (DI_ request to open the door) and then to continue the process without switching to manual mode?
are there any examples of this command?
Controller and RobotWare version would be helpful to know in order to answer this question.
It depends on how you've configured your system signals, but in general, sending one of the Stop inputs to the robot (Soft Stop, for example) will halt the robot.
To resume operation, you'll probably need to, in order:
1. Send Reset E-Stop (to clear the Safety fault caused by opening the safety gate)
2. Wait for the robot's safety fault to clear
3. Send Motors On
4. Wait for the robot's Motors On status to activate
3. Send Start
ABBs are pretty configurable, so there's some variance here. For example, it's possible to have Motors On and Start tied together as one input. You'll need to check your robot's configuration. That's easiest to do in RobotStudio, but the "raw" config is in EIO.CFG if you take a backup. One example:
EIO:CFG_1.0:6:1::
#
SYSSIG_OUT:
-Status "PPMoved" -Signal "do00_PP_Moved" -Arg2 "T_ROB1"
-Status "MotOnState" -Signal "do01_Motors_On_State"
-Status "MotOffState" -Signal "do02_Motors_Off_State"
-Status "EmStop" -Signal "do03_Emergency_Stop"
-Status "Error" -Signal "do04_Execution_Error" -Arg2 "T_ROB1"
-Status "AutoOn" -Signal "do05_Auto_On"
-Status "TaskExecuting" -Signal "do06_Task_Executing" -Arg2 "T_ROB1"
-Status "Blocked I/O" -Signal "do07_Simulated_IO"
#
SYSSIG_IN:
-Signal "di00_PP_to_Main" -Action "PpToMain" -Arg7 "T_ROB1"
-Signal "di01_Motors_On_Start" -Action "MotOnStart" -Arg1 "CYCLE"
-Signal "di02_ResetEmg_Stop" -Action "ResetEstop"
-Signal "di03_Reset_Exe_Error" -Action "ResetError"
-Signal "di04_Quick_Stop" -Action "QuickStop"
-Signal "di05_Soft_Stop" -Action "SoftStop"
-Signal "di06_Stop" -Action "Stop"
#
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