Posts by RockyLeafs

I was wondering if anyone has come across a way to tell which tool is currently active on the robot through programming?
Motoman DX200 Controller, General Purpose

The tool we have on our end of arm is a 4 gripper tool, that has 5 different tool TCPs available. I'd like to know which TCP was last active to know what routine to call. (Based on which tool was last active, the robot would know to open that specific clamp and then back the tool away a certain path).
I have had luck with being able to back the tool away with a simple IMOV and some GETE functions, but for some reason you can't set or get the Tool number from a position variable.
I know I've been able to do something similar in Fanuc but haven't found a solution on Motoman DX200 robots.

Unfortunately on this project we do not have a Safety PLC.
The SPI had to be used as a result.

I've tried contacting Fanuc but no luck with them yet either.

I'm not looking to jump it out permanately.
I'm looking for a solution as to why If I have any SPI input tied to SSO[5] then it doesn't work.

Hello,

I"m trying to use the C_NTED function over the DCS safety IO.
I have the SSO[5] tied to an SPI input [3], and the input is being made (@ symbol is shown) but I still get the DCS SSO NTED alarm whenever I try to enable the teach pendant in teach mode.
I've tried jumping out the input, and even using a different one with no success.

I've even tried tying the SSO[5] to the SSI[5], and that seems to work but once I tie any input to the SSO[5] signal it will not allow the robot servos to enable in teach.

Is there a parameter I may be missing? we are using the smaller 'b' cabinets so there is no hard wire NTED feature to get to, thats why i'm using the SPI and SSO[5] connections in the DCS safety logic.

Any guidance would help.