How to encompass an entire ProCall

sizemorejk

Hello everyone,

I hope you had a wonderful Christmas and an amazing New Year.

So here is my issue

During our Saw routine the operators have the ability to open the grippers to drop the part being cut. If they do not close the grippers back and push play then they will saw the gripper in half.

What I want to do:

If the grippers are opened during the Saw Cut routine I want to:

Close the Grippers

Remove the Robot from the Saw Routine

Send the Robot back to the previously defined offset that it was at prior to that one cut occurring

Send the Robot home

Set back to main to allow for the next part to come inline

We have a lot of different saw routines and I am not sure where to put the code. Should I encompass each routine with the code?

Here is an example of one of our Saw Routines

PROC Warmer_19()

MoveJ pSawApproach18_19,v1000,z20,tGripper\WObj:=wobj_Saw;　

MoveL Offs(p19Warmer_Cut_End,-250,0,-100), v500, z40, tGripper\WObj:=wobj_Saw;

MoveL Offs(p19Warmer_Cut_End,-80,0,-80), v300, z0, tGripper\WObj:=wobj_Saw;　

MoveL p19Warmer_Cut_End, Saw_Slow, fine, tGripper\WObj:=wobj_Saw;　

MoveL Offs(p19Warmer_Cut_End,-150,-5,0), v500, z5, tGripper\WObj:=wobj_Saw;

MoveL Offs(p19Warmer_Cut_End,-300,0,0), v500, z40, tGripper\WObj:=wobj_Saw;　

MoveJ pSawApproach18_19, v1000, z50, tGripper\WObj:=wobj_Saw;

MoveJ pTo_Saw,v1000,z100,tGripper;

RETURN ;　

ERROR

IF ERRNO=ERR_PATH_STOP THEN

TPWrite "An error occured";

Stop;

ENDIF　

ENDPROC

Thank you for any help that you can provide!

God Bless,

Joey

soup

Seems like a serious enough event to look for a global condition to constantly check for -- like don't allow SawOn, if Auto Mode and GripperNotClosed.

soup

I was thinking in terms of signals -- read about cross connects -- you get to connect one or more signals to serve as conditions to permit a signal.

That said, a saw blade sounds serious -- have you considered a safety-rated relay or PLC to check these conditions and govern the on / off -- then the robot controller would only "SawOnRequest", the safety-rated device would turn the saw on, and the RAPID code would wait for a signal back saying "SawOnReceived", "SawOffRequest", the safety-rated device would turn the saw off, and the RAPID code would wait for a signal back saying "SawOffReceived", etc. -- but the blade start / stop wouldn't be directly trusted to the robot controller?

lemster68

How do the operators open the gripper?  Programmable key, force IO?  Or do they have to call a routine to open the gripper?

sizemorejk

I agree Soup.

Thank you for the fast response.

Would that Global go into the Main Routine/