Posts by dhlg0110

    hey,


    i have a pick and place application where i need to drop part and slowly come down until sensor on EOAT turns off regardless of what state it was in when picking up the part. AFter sensor turns off, i need the robot to pull out.


    thanks

    Pers Num Counter;



    for some reason, anytime i use robotstudio to edit something or sometimes PP TO MAIN, put it back in auto and it resets my counter to 0.


    Doesn't hold my value.

    Hey all, take a look at this code, it seems to be skipping my trap for some reason.



    VAR bool PickSuccess;


    MoveL Offs(pUS_Pick_T3,0,0,100),vmed,z100,tEoat\WObj:=wobjReworkUnloadStation;
    PickSuccess:=FALSE;
    SetDO roPartDroppedDuringPick,0;
    WHILE NOT PickSuccess DO

    MoveL pUS_Pick_T3,vSlow,fine,tEoat\WObj:=wobjReworkUnloadStation;


    !WaitForPartPresent;
    MagnetEnable;
    GripLoad ldFrontTip;
    WaitTime 0.75;


    SetDO roReworkStationRequestToRise,1;
    WaitUntil riReworkStationOkToRise=1;
    SetDO roReworkStationRequestToRise,0;


    ! unhook edge
    MoveL Offs(pUS_Pick_T3,0,10,1),vSlow,z10,tEoat\WObj:=wobjReworkUnloadStation;
    MoveL Offs(pUS_Pick_T3,0,10,80),vSlow,z10,tEoat\WObj:=wobjReworkUnloadStation;
    MoveL pUS_Rise_T3_FrontTip, v100, fine, tEoat\WObj:=wobjReworkUnloadStation;
    ConnectDroppedPartInterrupt;

    IF DOutput(roPartDroppedDuringPick)=1 THEN
    WaitUntil riRetryPick=1;
    SetDO roPartDroppedDuringPick,0;
    ELSE
    PickSuccess:=TRUE;
    ENDIF


    ENDWHILE


    PROC ConnectDroppedPartInterrupt()

    IF riDryCycle=0 THEN


    CONNECT droppedPart WITH trapDroppedPart;
    ISignalDI diPartPresent1 ,0,droppedPart;
    !


    ENDIF


    TRAP trapDroppedPart
    TPWrite "Part Fell Off Magnet Gripper - Robot Stopped";


    ! Method 2, Stop the Path Now and Use Process Recovery to let the routine handle it
    StopMove;
    SetDO roPartDroppedDuringPick,1;
    DisconnectDroppedPartInterrupt;




    Stop;
    StartMove;


    ProcerrRecovery\SyncOrgMoveInst;

    SEARCH ERROR


    40661, Search Error
    Description
    Task: arg
    The signal arg for the SearchX instruction is already high at the start of searching or the I/O-unit for the signal isnt up and running for the occasion.
    Before performing next search, make sure that TCP is moved back to the start position of the search path.

    hey all,


    I have a pick routine where robot checks for gripper close sensors, i was wondering if any of those sensors don't come on, i want the robot to open gripper and go back to pick and try again.. Any help wold be appreciated.



    Thanks

    Just tried this method.
    I was able to load the pc file but wasnt able to see it in select menu.????



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