RobotStudio event

Palletizing PowerPac - Move Home Position

Liberona
Liberona ✭
in PowerPacs
Hello everyone,

I have to enable a Service routine to my IRB 660 Palletizing Robot. It is enabled with PickMaster 5 and I see that the robot starts at home position, waiting for starting a Flow.

Looking into the RAPID code, I see that the robot uses just once, a procedure called "MoveHomePos()". I would like to call this procedure again, when the robot is palletizing or stopped, so the robot EOAT goes again to the home position.

The objective to this, is to enable a maintenance/service routine. As the Main routine indicares:

 PROC Main()
    IF FirstMainLoop THEN
      MoveHomePos;
      FirstMainLoop:=FALSE;
    ENDIF
    PmWaitProjStart;
    OperateSequence;
    ERROR
      IF ERRNO = PM_ERR_JOB_EMPTY THEN
        RETRY;       
      ENDIF       
  ENDPROC

I want to call this procedure again, perhaps using an interrupt. Have you had some experience doing this? Does your clients ask for a service routine? How do you enabled that?

Also, the code is difficult to edit, because it is semi-static.

Thanks for your answers. best regards,

Pablo

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