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.