you can use ABS.SPEED
ABS.SPEED ON
SPEED 25 mm/s
ACCURACY 1 FINE
LMOVE #point
ABS.SPEED OFF
Posts by Alexandru
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Have you tried TCP communication between camera and robot?
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Hi,
AUTOSTART.PC programs must be ON if you want to use it.
You can use this kind of syntax if you want to check if the autostart programs are running or not, but is the same like in the picture.
IF TASK(1002)<>1 THEN
PCABORT 2:
PCEX 2: pc2
END -
for external start i sent 4 pulses (each pulse in 1 second) to the robot (error reset, motor ON, cycle start)
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If you want to send a number to PLC, you need to allocate some output space and use the BITS command. For example you can allocate 8 output signals:
BITS o.startsignal_value, 8 = number you want to send
On the interface panel you can use the lamps from the input signals to view which signal is missing. Instead of WAIT function you can have a WHILE loop or IF conditions:
IF SIG(1001) == FALSE and SIG (1005) == FALSE THENGOTO 10
END
I think that you dont need the WAIT function since the program scans for signals again.
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It has ULIMIT (upper limit) and LLIMIT (lower limit) and from aux functions -->
Advanced settings ---> 7. Motion limit -
Maybe those threads might help you:
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You need to build your own program to detect if the robot moved in manual mode. For this you need a background program.
Blocking the automatic start requires:
- The position where the robot was when the automatic ended;
- The allowed movement distance to the original position;
- Robot at the home position, so the start is not blocked; -
why you would need to send a number soo high? The range of 32 bit is +- 3.4*10^38.
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you can create a background program and monitor the robot in auto mode. If the robot moved in manual mode and the operator wants to start again, the robot can not have cycle start active, this is how i would do it to prevent any collision if the robot moved in manual.
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try to reduce the upper limit point and create a point using ULIMIT function.
Then you can check if the JT4 angle of the desired location is > ulimit JT4 (-360degrees) or < ulimit JT4 (360 degrees)
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Please take care about ACCEL and DECEL.
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Is not mandatory to restart the program if, the robot dropped the box. You might have 2 options:
1. The robot can continue the motions (for example there is no enough vacuum level and the box is still in the gripper, the operator placed the box in the gripper)
2. The robot can pick another box (in this case, just make the program in such a way that the robot is able to go back at picking position)
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what you want to send on TCP/IP?
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You shouldnt, i use normal SIGNAL for gripper functions.
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maybe this can help you:
IF SWITCH(TEACH_LOCK) THEN
button enable
ELSE
button disable
END
You can use SWITCH function and check for robot status (POWER, RGSO, RUN, STP_ONCE....)
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What you would like to test with the PLC? Usually there are only handshake signals.
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I wouldn't buy an old robot if it doesn't have all the components (for example teach pendant) and make sure if still able to run. Maybe you would spend more money on spare components.
You can share the pictures of the robot.
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Try to change both languages to english.
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QTOOL ON is using the TOOL for BLOCK programming, when i get a new robot I set the option to OFF. Also is good in the AS program to have this option OFF just in case somebody put it ON. QTOOL OFF is the command in the AS program.
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