I/O Trigger

    Hi All

    I tried to Trigger the output from the robot program in RT Toolbox 3 using the program

    While M_11=1

    If (Deg(J_Curr.J6)<M30) Then

    M_out(12)=Not(M_out(12))

    M_30 = M_30 + M_31

    EndIf

    WEnd


    The problem here is the trigger does not happens at the expected points
    for example: if i move the J6 from -10 to 10 deg and the value of M_30 is -9 and M_31 is 1. The trigger should happens at every 1 deg movement of the J6. The trigger happens but not at every 1 deg movement, for some deg movement it trigger doesn't happens

    If anyone has any ideas, Thanks in advance

  • Lemster68 May 17, 2024 at 2:06 PM

    Approved the thread.

    How fast is the robot turing this axis? Maybe in the span of one scan through the program you are just missing a degree. Its not likey but you could try running it from some very slow to very fast speeds and see if you get different results depending on the rotation speed?

    You could also include a counter to tally up all the hits to see if you are getting results on all the degrees but having a signal output timing issue?

    Sorry probably not much help but its an interesting peice of code, I want to try it on a machine at my office.

    Hi there, I'm just wondering what the reason for this code is? I get that you want a pulse when the J6 position changes, but what is the use of this information? It's quite possible that the robot is already equipped with some function and you won't have to reinvent the wheel.

    Hey, My sincere apologies for the quiet ate reply. The robot model is RV-7FRL-D with CR800D controller

    Quote

    It might help is you were to tell us the make of robot and the version of controller

    Quote from Woebot

    How fast is the robot turing this axis? Maybe in the span of one scan through the program you are just missing a degree. Its not likey but you could try running it from some very slow to very fast speeds and see if you get different results depending on the rotation speed?

    You could also include a counter to tally up all the hits to see if you are getting results on all the degrees but having a signal output timing issue?

    Sorry probably not much help but its an interesting peice of code, I want to try it on a machine at my office.

    yes I tried to run the robot from min to max speeds but the same results.
    Even I added a counter to the program to verify the number of triggers sent from the program, and I get the exact value as expected.

    Quote from sCZot

    Hi there, I'm just wondering what the reason for this code is? I get that you want a pulse when the J6 position changes, but what is the use of this information? It's quite possible that the robot is already equipped with some function and you won't have to reinvent the wheel.

    Exactly as you said that I need the pulse for 0.5 deg change in J6. I'm new to robots and I'm unable to find any kind of builtin function related to this. If you know anything please let me know where to find :smiling_face:

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