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DX200: MOVL UNTIL ON... what if doesn't turn on?

  • CrazyHorse
  • February 15, 2024 at 3:10 PM
  • Thread is Unresolved
  • CrazyHorse
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    9
    • February 15, 2024 at 3:10 PM
    • #1

    Hello there to everyone

    My queston is very simple but yet a little tricky 'cause I don't have the chance to test it with the robot (for the moment).

    I have a palletizing robot which needs to measure the "high" of the pallet. In order to that there is a JOB to measure this high. So the gripper has a distance sensor -IFM O5D150- wich will be used as a discrete sensor: when the sensor gets the preset distance it becomes hi (1 or ON). Is there when I need that the robot stops the movement.

    Here's the code:

    SET B010 0

    *0102-1

    MOVL P011 V=40.0 PL=0 UNTIL IN#(5)=ON

    IF( IN#(5)=OFF AND B010<2 ) THEN

    INC B010

    JUMP *0102-1

    ENDIF

    I'm using this IFTHEN to give a row of tries before continuing to the next step of instruction.

    But my question is: what if the sensor -for whatever reason- never turn on?

    How much time or movement the instruction MOVL will go 'till execute IFTHEN?

    Or the robot will go to P011 'till the end?


    Hope I was clear with the point

    Best regards

    Lucas.

  • HawkME February 15, 2024 at 3:40 PM

    Approved the thread.
  • roboprof
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    • February 15, 2024 at 3:42 PM
    • #2

    If the input never comes on, then the robot will complete the move (go to P011).

  • CrazyHorse
    Trophies
    1
    Posts
    9
    • February 15, 2024 at 4:09 PM
    • #3
    Quote from roboprof

    If the input never comes on, then the robot will complete the move (go to P011).

    Thank you

    I'm a newbie. I'm learning and these are my first projects. Sadly, very few chances to test in time the lines of code that I'm writing.

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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
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  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Tags

  • dx200
  • until
  • MOVL
  • IFTHEN
  • MPL100-II
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