Point information.

    I have a robot that has around 100+ points per program.

    A peripheral system using LabView needs to know what point the robot is currently at.

    For example, on P[1] after it executes a joint move, I add another line below that and move a 1 into a register.

    and when the robot goes to P[2] I add another line below the move and move a 2 into the same register.


    This essentially tells the LabView system what point the robot is on. However, this is very monotonous work, and I was wondering if there is already a system variable that updates a value for whatever P[#] the robot is on.

    Any help would be appreciated.

  • massula February 21, 2024 at 6:22 PM

    Approved the thread.

    There is $ALM_IF.CURR_LINE which updates according to the program line the robot is on. If P[17] with FINE instruction is on line 56, then if $ALM_IF.CURR_LINE > 56 and $ALM_IF.CURR_PROG = "Your program name of interest", you know the robot reached P[17] successfully.

    If your program is quite simple with a lot of positions and no change in speed or CNT instructions, you could also do something like this:

    Code
    FOR R[1:Position Index]=1 TO 100
PR[1:Position Buffer]=P[R[1:Position Index]]
L  PR[1:Position Buffer] 100mm/sec FINE
ENDFOR
    Quote from christiansalazar2

    Thanks, I ended up using the call program feature.

    How it works is after every point P [#] I have a line of code underneath it that calls a program named "counter".

    Counter just takes register 4 and adds 1 to it. R [4] +1=R [4] this way after every point in the program it updates register 4. It worked well.

    You can add that call to the point itself instead of adding a new line with the call, this is done using the "distant before" modifier, or any other modifier like "time before"

    The diference betwheen doing it this way or directly calling it on the next line is that using your way, program pointer will go forward and execute 2 or 3 of this call instructions before the robot reaches the first motion point (if not using fine). With distance before you can configure it to trigger when there robot is at a distance of X mm from that executed point.

    Also... take in mind that both ways are pretty inneficient as every call introduce a delay of 4ms betwheen the call procedure and the code execution of that call content. Same happens with jumps, so with ennough jumps and calls on a segment the generated delay can be pretty noticeable and even make the robot stop while processing these calls, evfn if you use cnt100 as termination.

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