Robot send do at home signal

Beaver2020

Hi
 Someone can help me figure out ‘robot how to send Do32 at home signal when cell integrated with IRBP turn table for MIG weld processing.  When using production manager.
 I found sometime it will lost do32 at home signal after someone recovery robot fault.  After run home routine in manual mode, and check IO Do32 is ON, but just after PP to Main, it  will lost even in manual mode, no robot move at all. I guess Do32 at home not only defined by robot position also by safety signal or some sequence in production manager. 


thanks

lemster68

With production manager or without, home position system output is best monitored by WZHomeJointDef.  The only way to set up the world zone right is to ensure that it is a stationary world zone, not temporary.  A temporary world zone will be deleted upon events like PPtoMain.

Beaver2020

Thanks, the Cell has integrated by some contractor already, normally run is ok, just some times happening, and has homejoint mode inside. I just don’t know how it works. Every time, I just clear PLC sequence, manual indexes table from teach pendent, than run home routine, do not care at home signal, then go back HMI manual index table, looks works. I do not know exactly what need for robot send at home signal after PP to Main 

lemster68

With a stationary world zone like I mentioned it should be there would have to be an event routine connected to a power on event.  This would be found in the system parameters for the controller.  A temporary world zone would be some instructions, possibly in a called routine that initializes it one time.

Beaver2020

Hi
Thanks,
it is a little different than normal home word zone define. 
Today I checked the Do at home signal is crossed with SiAtsafe, then SiAtsafe Crossed with SiAtsafeR1, SiAtsafeR1 crossed with SoAtSafeR1_1 OR SiAtparkR1, SiAtparkR1 crosses with SoAtparkR1_1.
Now we need figure out when Robot send out SoAtSafeR1_1 and SoAtparkR1_1.
On system, there is a GosafeData module. Inside like this
CONST identno id_safe1 :=1;
VAR syncident sync_safe_1;
VAR syncident sync_safe_2;
VAR syncident sync_safe_3;
Task PERS home_joint_data Robot1_1_HomeData:=.............;
LOCAL VAR bool homejointInit:= false;
PROC InithomeJoint()
VAR jointtarget jRange:=[[2,2,2,2,2,2],[9e+09....];
VAR num nzoneSphRadius:=100;
VAR num nHomeCompNo;
VAR bool bStatus;
If (homeJointInit) RETURN;
bsafeMutex:=FALSE;
homeJointAdd 1, ROB_1_HomeData, “soAtsafeR1_1”\SafeRange:=jRange\Parksignal:=“soAtParkR1_1”\parkrange:=jRange\ServiceSignal:=soAtServiceR1_1”\ServRange:=jRange\HomeCompno\Status:=bStatus;
homeJointInit:=True;
Endproc

proc homeJointPwron()
homeJointInit:=False;
Endproc
endmodule

Someone can explain more on homejointadd means and how system send out SoAtsafeR1_1 signal after pp to main.


thanks

lemster68

Look for a procedure called homeJointadd.