Abb System input

I have some questions. Which robot controller type and RW version are you using? Which PLC brand? Are you using digital IOs or an industrial fieldbus protocol for communication? If yes, which one?

It's been a long time since I did this, but here's the gist of it... What you are looking to set up is an interrupt, and an associated trap routine.

Interrupt gets tied to an input.

Trap routines get associated to an interrupt.

Then, if that interrupt is triggered, it will call the trap routine.

(Trap routines cannot, however be directly called from the program.)

Some generic examples below. Download "RAPID Instructions, Functions, and Data Types" from the ABB Library, and it will walk you through everything. That document is a programmer's best friend!

CONNECT int_move_home WITH trap_move_home
ISignalDI di1_HMI_Home_Button,1, int_move_home;

TRAP trap_move_home
    MoveToHome;
    RETURN;
ENDTRAP

Think the trap example won't work. It goes to home, but then the RETURN returns to the code where the interrupt happened .

On ABB robots the standard way is to use system inputs to first stop the program and the start from main.

At beginning of main the robot calls the homing routine. Look into the system input tab in i/o configuration in robotstudio, you will find the 'stop' and 'start main' signals.

Quote from hermann

Think the trap example won't work. It goes to home, but then the RETURN returns to the code where the interrupt happened .

On ABB robots the standard way is to use system inputs to first stop the program and the start from main.

At beginning of main the robot calls the homing routine. Look into the system input tab in i/o configuration in robotstudio, you will find the 'stop' and 'start main' signals.

Yup, I guess I didn't conjure up the best example! STOP then MAIN would be a good choice though, depending on how and when they want to send the robot home, and what they want to do after.

If I understand correctly, your "Move Home" routine can be called at any time from the HMI, and will crash the tool into your fixture if called at the wrong time?

Homing routines are a very big topic. Many ways to accomplish this, but the right answer will depend on your cell design and how difficult it is to move the robot to a safe position.

Your home routine SHOULD

- look at current robot position to help choose safe path

--- Typically save this position , then back out using Offset or RelTool, if you have a clear path

- be tested from all expected positions during normal operation

--- backwards handlers can get the robot out of tight spaces where tool/fixture might interfere

- wait for operator input if robot is outside of programmed ability to get home safely

Your home routine SHOULD NOT

- move directly home from anywhere

- move at high speed

If you are having trouble with the robot moving home from an HMI input, then hold that input until the robot reaches a safe location, rather than immediately stopping and trying to get to HOME.