Robot has been moved

Martin_Greve

Hello,

I have a small robot setup with an IRB140. 

I would like to be able to check if the robot is in the home position, in the rapid code.
If the robot is not in the home pos, the robot should reset, and run to the home pos.

The problem is that sometimes the operator for some reason will go in to the robot, push the release brake button and move the robot manually. We have tried telling them that they shouldn't do this, but they keep doing it .......   

I have attached the code I use right now. it works actually really great.

But if they move the robot after the this program have been run once, the "pndo4_Resat" will be 1, and therefore it wont run the routine again.

BTW i'm pretty new to programming, and if this way of doing it, is totally wrong, please let me know 

Thanks in advanced.

Martin Greve

        IF pndo4_Resat=0 THEN

            SR7_ResetRoutine;

        ENDIF

    PROC SR7_ResetRoutine()

        pCurrentRobotPos_01:=CJointT();

        MotionSup\On\TuneValue:=250;

        pRobotResetTarget:=CRobT(\Tool:=Gripper\WObj:=wobj0);

        IF pCurrentRobotPos_01.robax.rax_5<-10 THEN

            pRobotResetTarget.trans.x:=550;

            MoveL pRobotResetTarget,vVerySlow,fine,Gripper\WObj:=wobj0;

            MoveJ p00Home,vVerySlow,fine,Gripper\WObj:=Conveyor;

            IF nGripperFull=1 THEN

                SR6_Reset_Dropoff;

            ENDIF

            nGripperFull:=0;

            SetDO pndo4_Resat,1;

        ELSE

            pRobotResetTarget.trans.z:=300;

            MoveL pRobotResetTarget,vVerySlow,fine,Gripper\WObj:=wobj0;

            MoveJ p00Home,vVerySlow,fine,Gripper\WObj:=Conveyor;

            IF nGripperFull=1 THEN

                SR6_Reset_Dropoff;

            ENDIF

            nGripperFull:=0;

            SetDO pndo4_Resat,1;

        ENDIF

        MotionSup\On\TuneValue:=150;

        Stop;

    ENDPROC

jmf

Create a Event Routine which is linked to a world zone (specifically HomeJointWZ).

Try this steps in the document.

Martin_Greve

Unfortunately the robot is not equipped with the World Zone option.  

jmf

Can you supply your system type details?

Have you tried adding the option to your system?

Paba

I'm also new in programming and dont know if its clever, but you could compare current x,y,z coordinates with excepted coordinates in home position ? or compare joint angles with a defined tolerance

Paba

<code>       Abs(tempJoints.rax_2-homePos.rax_2)>10 OR ...<br>       !reset robot and move home<br>    Else !already in home position<br>    ENDIF<br>ENDPROC<br>CheckHomePos;<br><br>PROC CheckHomePos()<br>  var jointtarget tempJoints;<br>  tempJoints:=CJointT();<br>    IF Abs(tempJoints.rax_1-homePos.rax_1)>10 OR 

Maybe something like this? please let me know if its a bad idea