How do I have an input looked at for an enitre ProCall?

sizemorejk

Hello,

Here is what I am trying to do

I am trying to look at a Digital Input for the Entire PROC UnLoad_Caster() program up to the point  BEFORE the Close Gripper Occurs. That DI is diExtractPart. I already have all the PLC mapping complete now I am just looking to see where to put his in the RAPID.

The reason we are doing this is to cause the Robot to go back home, therefore in a safe position, if the diExtractPart signal drops out.

If diExtractPart ever equals zero(0) then Stop the Robot -> ExitCycle -> Open Grippers -> Home Postion

PROC UnLoad_CASTER()       TPWrite "UNLOAD CASTING"; TEST PartID CASE 17: Cstr_Pick:=Cstr_Pick_17; CASE 18: Cstr_Pick:=Cstr_Pick_18; CASE 19: Cstr_Pick:=Cstr_Pick_19; DEFAULT: Stop; ENDTESTHome_Position;         MoveJ Appr_TT, v1500, z100, tGrppr; MoveJ Appr_TT_In_Fence, v800, z100, tGrppr; MoveL Appr_Mold, v500, fine, tGrppr; 　 MotionSup\On\TuneValue:=100; 　 MoveL Cstr_Pick,v400,fine,tGrppr; CloseGripper_LP;


Thank you for any help

graemepaulin

You can check the status of the signal at the start of the routine in an IF statement with the 'return' command so the the rest of the routine is not executed.

Use an interrupt to catch the signal change during execution of the routine (see attached).

sizemorejk

Thank you for the help. That was a great answer. I really appreciate it.

God Bless