kindly brief your problem. We are doing few of abort and interupt programs to avoid such situation. May be that can help you.
Posts by Devendra.r.jain
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i will recommend to use pneumatic float for your grinder as maintaining force. Rest things depends on you requirement of final finish.
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We are regular using this feature but for avoiding collision only. We use 1 sensor for detection. and torque monitoring is backup. if sensor fails then only torque monitoring comes in picture.
also sensor is tested for it performance at every start of cycle. But we are working in really hazardous condition. Temperature of component is 1000 plus and we cannot keep robot waiting in that area. So we use this function.
Using a sensor for part detection is always preffered
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DEF Main()
INTERRUPT DECL 20 WHEN $IN[1]==TRUE Do ABORT1 ()
PTP HOME
PTP HOME1
IF ($FLAG[1]==FALSE) THEN
INTERRUPT ON 20
CYCLE1()
INTERRUPT OFF 20
ENDIF
IF (($IN[1]==TRUE) OR ($FLAG[1]==TRUE)) THEN
IF ($FLAG[11]==TRUE) THEN
PTP HOME1
PTP HOME
$FLAG[1] = FALSE
$OUT CYCLE ABORTED PULSE 1 SEC
ENDIF
IF ($FLAG[12] = TRUE) THEN
LIN P1
PTP HOME1
PTP HOME
$FLAG[1] = FALSE
$OUT CYCLE ABORTED PULSE 1 SEC
ENDIFIF ($FLAG[13] = TRUE) THEN
LIN P2
LIN P1
PTP HOME1
PTP HOME
$FLAG[1] = FALSE
$OUT CYCLE ABORTED PULSE 1 SEC
ENDIF
ENDIFDEF ABORT1()
INTERRUPT OFF 20
BRAKE F
$FLAG[1]=TRUE
WAIT SEC 0.1
resume
END
DEF CYCLE1()
HOME1
$FLAG[11]=TRUE
LIN P1
$FLAG[11]=FLASE
$FLAG[12]=TRUE
LIN P2
$FLAG[12]=FALSE
$FLAG[13]=TRUE
LIN P3
LIN P2
$FLAG[13]=FALSE
$FLAG[12]=TRUE
LIN P1
$FLAG[12]=FALSE
$FLAG[11]=TURE
PTP HOME1
$FLAG[11]=FALSE
END
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we have geneated our own way for safe home return. We just use 1 main and 1 sub program. Sub program will have our actual program of process with flags on off for each path of robot an main program will have interupt fund for subprogram and reverse path according to the flag is o .
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We do this on my own. We genearte a main program and 1 sub program. Main program will have interupt function and reverse path points. Sub program will have actual program of operation. In sub program we switch on flag for each path. So when interuppt occurs we know on which path robot was at the time of interrupt. So in main program accordingly return path will run. We have implemented this successfully in more that 20 robot cells. Running fine since last few years. If you need sample program just mail me on devendra(dot)r(dot)jain(@)gmail(dot)com