Posts by PaulG

  • Distance between effective robot work enveloppe and light curtains

    Hi everybody,

    I have an industrial application in which an operator needs to be able to manually load a support so that the robot can pick up these parts.

    When the operator is in the exchange zone (outside the robot zone), I apply a speed reduction to the robot via SFDI, using the Cartesian Position Check Speed Check (let's say 30% override).

    I've created a DCS zone on the operator/robot exchange table.

    We want to install a light curtain that triggers an emergency stop if the robot is in the table zone and the light curtain is triggered. In a way, the robot is forbidden to go into the table zone, but if it does go there, the DCS stops the robot if the operator is loading a part, i.e. the light curtain is triggered.

    I'd like to know what minimum distance we need to put between the table and the light curtains, given that my robot speed is safely reduced to 30% override. Is there a formula?

    P.S : The robot is a M20id25.

    Thank you in advance,

    Paul

  • MAP A DO TO A SPECIFIC ALARM

    Hi,

    I almost understood all the thread I guess. The thing I don't get now, is how to get the different MSBs ?

    From MOTN-018, you get 15-018. That gives 0x0F - 0x012 in hex. But then, the last ERCODE is 0x26_0F_0012. Is it possible to deduct the decimal ERCODE only from "MOTN-O18" ? I don't know where the 26 comes from.


    In my case, I have a SRVO-065, which gives the ERCODE : 0xmm_0xB_0041. What would the MSB be ?

    Thank you in advance

  • MAP A DO TO A SPECIFIC ALARM

    DS186,

    Well, it would work and that is what I was about to do. But I really want this alarm only.
    If I link the UO BatAlarm to a DO, it will activate also when I get a BZAL Error for exemple, and I don't want it (I want a specific message to display on the HMI depending on a specific alarm).
    Thank you for the fast answer.

    Halbes,

    It means that the system variable $ALM_IF.$LAST_ERCODE displays the code of the last error that has occured, right ? So the BLAL Alarm must have a ERCODE right ? Where do you find it ?

  • MAP A DO TO A SPECIFIC ALARM

    Hi everyone,

    I want to activate a DO when a specific alarm occurs.

    In my case, I want to activate a DO when the SRVO-065 BLAL alarm (Group:%d Axis:%d) occurs, to tell operators that the batteries have to be changed, with a message on a HMI. Only this one in particular.


    Do you know if there is a way to do this ?

    Thank you in advance !

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