Posts by HawkME

There is a DO comment option, but I cannot remember if there is a value option. If not then you could just use a R, and monitor it in BG Logic to set the DO.

Your program is trying to deal with IO that isn't defined.

There is a speed limit for each axis, but I'm not sure if you can modify it with a system variable.

Add

MONITOR COND_WATER

After your ualm in that macro program to restart the monitor.

Thanks for posting your solution. It may help others.

Try using the "lock_preg" command before your arc start, and "unlock_preg" after you are done.

If you Lock the Position registers you won't be able to modify them in your code between the Lock and unlock instructions.

Don't use Karel to move the robot. Use it to write values to a PR, then use a TP program to move to that PR, like Nation said.

You could use a condition monitor which can then call user alarm. That would work pretty well in this situation.

Another option is to monitor in BG and drop out the UI hold signal. You must use a flag mapped to the UI signal to do so.

If you go the BG route would also suggest adding an indicator. Could be as simple as writing to the user screen or wiring in a light, or display on an HMI screen.

search the forum for 'Checking for completed motion'.

There are a few variables in that thread that may give you what you want.

We don't know what you are doing wrong until you post your current solution.

I would assume that would be in the ArcTool Operations and Programming manual.

Those issues have been discussed on this forum before. Search for $SCR_GRP[1].$MCH_ANG

Also read up on UI signals. They can be mapped to flags which allows you to easily control them in BG Logic.

I don't think you can use JPOS or UALM in BGLogic. But you could monitor the system variables for the current joint angles and if they are beyond some limit then drop out the UI Hold signal.

Set $scr.runovlim also, then reboot and try it.

You can create your own palletizing program by looping through for each row, column, and layer. Use a register to keep count for each. Then based on the those registers, calculate a position register to be used in an offset from your starting point. You will need extra logic to account for the different position and rotation of your end rows, which alternate each layer. Then when the last box is placed and pallet removed, reset all counters to zero.

Motor speed limit is just a warning. The fault is you lost the hold signal. Turn it back on.

How familiar are you with robot programming? Do you understand how to use registers and offsets?

Is port 20 allowed through the firewall?

TP programs can be sent by FTP over ethernet or USB.

I'm not very familiar with RoboDk but I would guess it compiles to a TP program.

Not sure how to directly do what you are wanting, but if you can set a DI or DO, then you could use BG logic to set the RO = DO.