Fresh copy of "Application manual SafeMove" and "Application manual Electronic Position Switches".
Posts by boldive
-
-
Thanks a lot!!!
-
Thank you for advise.
I don't have an account with Scribd. Is it possible to place file on google drive for example and share a link?
Thanks. -
IRC5 controller
Part of my home routine is check if Safety_SyncWarn is off. If not, move robot to sync switch
IF (DOutput(Safety_SyncWarn)=1) OR (nLastSyncDay<>nThisDay) mSync;
where part of nSync routine:
MoveAbsJ sync, v300, fine, tool_12Cell;
WaitTime \InPos, 1;
WaitUntil \InPos, DOutput(Safety_SyncSwitch)=1 ,\MaxTime:=5, \TimeFlag:=bTimeOut;
! Check Switch
IF NOT bTimeOut nLastSyncDay:=nThisDay;I assume, when safety controller detects signal from Safety_SyncSwitch then Safety_SyncWarn output should be off.
On robot IO page I see Safety_SyncSwitch comes to 1 when robot tooling presses the switch but Safety_SyncWarn is still ON.Where is the place to verify what is going on?
Thanks
-
When enter position coordinates have to use "Positions in coord: BASE" (was using WorkObject coordinates).
Works good now. -
Hello,
I want to setup two woldzones. When robot is inside the specified cube then output comes ON.
Procedure says: Specify two corners of the cube and setup output.Here is a code from routine which runs on the Power_On event:
! NPC Zone 1
WZBoxDef\Inside,volNPC1,NPC1_pos1,NPC1_pos2;
WZDOSet\Stat,NPC_zone1\Inside,volNPC1,DO_NPCZone1,1;
! NPC Zone 2
WZBoxDef\Inside,volNPC2,NPC2_pos1,NPC2_pos2;
WZDOSet\Stat,NPC_zone2\Inside,volNPC2,DO_NPCZone2,1;Where
VAR shapedata volNPC1;
VAR wzstationary NPC_zone1:=[0];
PERS pos NPC1_pos1:=[-1200,850,150];
PERS pos NPC1_pos2:=[-840,1500,655];VAR shapedata volNPC2;
VAR wzstationary NPC_zone2:=[0];
PERS pos NPC2_pos1:=[-280,1346,150];
PERS pos NPC2_pos2:=[-70,1820,655];After all modifications applied I did warm start on the controller.
Now, I am testing outputs when robot is inside the cube and nothing comes out.
Below is the actual robot position:
X: -206.3mm
Y: 1401.3mm
Z: 437.5mmAccording to geometry they are inside the specified volNPC2 cube. But output is not ON.
Any suggestions?
Thanks -
Here is a version 2.0.1.8 Beta
Register online for free, just type your email