How to trigger Signal when robot at HOME Position

    Hi I have made my own HOME position and would like to signal my PLC that the ROBOT is at HOME.

    I do not have WORLD ZONE package and wrote the code below.


    The issue with the above code is that the current position might have a few decimal places values different then HOME values.

    Is there are any other more efficient solution to trigger Signal when robot at HOME Position?

    Code
    ..  
    IF (abs(Home.trans.x-pCurrentPosition.trans.x)<0.1) and (abs(Home.trans.y-pCurrentPosition.trans.y)<0.1) and (abs(Home.trans.z-pCurrentPosition.trans.z)<0.1) Then
...

    But how/where do you want to execute the code? If the code isn't executed in background the signal won't be set everytime HOME is reached. And more important it won't be resetted if robot leaves HOME.

    Quote from hermann
    Code

    But how/where do you want to execute the code? If the code isn't executed in background the signal won't be set everytime HOME is reached. And more important it won't be resetted if robot leaves HOME.

    Hi Hermann,

    The PLC will check for this signal and then only give the command to execute a procedure.

    i just want a output signal when at robot at HOME position.

    This code is kind of a work around to achieve that. im not sure if this is the best way to do this?

    Quote from emerald_geni

    .. i just want a output signal when at robot at HOME position..

    World zones work asynchronous to main program. Your procedure also should work asynchronous, but it won't unless you have multitasking option. If you don't have world zones, I doubt you have multitasking.

    May be you can try to use a timer controlled interrupt to call your routine. Otherwise you only can call it synchronous somewhere in the program, but then only on that call the signal will be set/reset.

    Why didn't you answer my question? :smiling_face:

Advertising from our partners