Thank you I appreciate your help I will try something with a PC program.
Posts by Sergio Falcon
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I pasted a piece of the code I used. I am looking to jump to a different line when we have a error at wire check or measure instruction. The numpg is used for ONI or ON to change the status of 2336.
When the robot fail at measure points, the request is to have an auto recovery in case they want to bypass the entire weld line and weld without any offset, using goto instruction and other conditions we can jump into a different place in the program.
I tested also those 3 instructions
ONI 2336 GOTO 100;
ON 2336 GOTO 100;
ONE ts_wchk;
100
;
SIGNAL (-2336)
;
; APPROCH WIRE CHECK
AC JOINT SPEED1 ACCU1 TIMER0 OX= WX= #[-13.39, -5.12, -122.03, 17.65, -35.88, -0.63] ;
;
ONE ts_wchk;
;
; AT WIRE CHECK POSITION (15mm part to contact tip)
AC JOINT SPEED1 ACCU1 TIMER9 WIRE_CHECK OX= WX= #[-22.66, 13.44, -121.05, -17.35, -8.37, 21.95] ;
;
.PROGRAM ts_wchk()
TWAIT 2;
RETURNE
.END
Code
Display More.PROGRAM numpg(); ; mig_err = ERROR ;Grab current error code CASE mig_err OF BITS 897,5=6 ; Torch interference to PLC alarm[166] = 1 ; Torch interference VALUE -36509: BITS 897,5=7 ; No work detected. to PLC SIGNAL (2336) tserror=SIG (2336) alarm[167] = 1 ; No work detected. VALUE -36510: BITS 897,5=8 ; Undefined sensing direction. to PLC alarm[168] = 1 ; Undefined sensing direction. VALUE -36511: BITS 897,5=9 ; Insufficient num. of sensing points to PLC alarm[169] = 1 ; Insufficient num. of sensing points. VALUE -36512: BITS 897,5=10 ; Undefined mother or daughter work to PLC alarm[170] = 1 ; Undefined mother or daughter work. VALUE -36513: BITS 897,5=11 ; Too many sensing points. to PLC alarm[171] = 1 ; Torch interference VALUE -36514: BITS 897,5=12 ; Work specification incorrect to PLC alarm[171] = 1 ; Torch interference VALUE -36515: BITS 897,5=13 ; Incorrect sensing point specified to PLC alarm[172] = 1 ; Incorrect sensing point specified. VALUE -36516: BITS 897,5=14 ; Wire check failure to PLC SIGNAL (2336) alarm[173] = 1 ; Wire check failure. END ; END
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Thank you for your advice, I forgot to mention I tried to use the ONE and RETURNE but it did not work, I am not sure if I need to enable a special system switch or something else to be able to work.
Also the current recovery is like you mentioned the operator has to move the robot to known position after he reviewed root cause of the fail, but at this point the operators need a faster recovery to be able to retry or bypass in auto mode.
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I would like to know if there is any instruction that can skip an error of Touch sensing in BLOCK programming, I tried to use ONI but is not working, I want to implement a recovery after a wire check failure or work detect failure. I think I need something similar as SXAC: ignores workpiece non-detection errors in touch sensing.
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Okay, Thank you for that information. @kwakisaki
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Thank you for the video, I need to read how the function works. Have you worked with Wire sense function from Fronius, is that the same concept?
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Could you share any structure example ?