home position signal request

Icould

Dear All,
I am new at ABB Robot programming.
I commissioning ABB robot with Siemens PLC. I need home postion signal at PLC side. Please show me rapid pseudo code on robotstido.
As my research, I may use 
""""WZHomeJointDef\Inside,joint_space,HomePose,delta_pos;

WZDOSet\Stat,wzHomePose\Inside,joint_space,doAtHomePose,1;"""

Could you help ?

mandolas

Hi ...

Yes it can be like this. For this an area needs to be created, so when the robot is in this area it will set the output for the PLC.

See if that helps...

! Declaration of the signal in the menu "Configuratio\IO\Signal" in case of communication with profinet

-Name "RobotHome" -SignalType "DO" -Unit "DSQC688_PROFINET"\

       -SignalLabel "SIGNAL OF ROBO ACCESSING THE HOME AREA" -UnitMap "10"\

       -Access "ReadOnly"

! In a module it can be done this way...

MODULE ModuleWZ

     ! #################### POSITIONS TO BE USED TO DEFINE OBJECT AREAS - USED: tGripperG and wobj0;

     LOCAL CONST robtarget PBOX_HOME_L:=[[765,0,1390],[2.45295E-05,9.20422E-06,-1,-2.25732E-10],[0,0,-1,0],[9E+ 09.9E+09.9E+09.9E+09.9E+09.9E+09]];

 

     !! ZONE DEFINITION: HOME ############################################### #############

     CONST pos cornerInfEsq_HOME:=[PBOX_HOME_L.trans.x-50,PBOX_HOME_L.trans.y-30,PBOX_HOME_L.trans.z-50];

     CONST pos cornerSupDir_HOME:=[PBOX_HOME_L.trans.x+50,PBOX_HOME_L.trans.y+30,PBOX_HOME_L.trans.z+50];

     VAR shapedata shape_HOME;

     VAR wzstationary wzstat_HOME;

     !! PROCEDURE FOR DEFINING OBJECT AREAS ############################################## ##############

     ! This routine is linked to the PowerOn event

     !

     PROC DefineWZ()

             ! AREAS OF MAPPED OBJECTS

         !Wordzone definition HOME zone

         WZBoxDef\Inside,shape_HOME,cornerInfEsq_HOME,cornerSupDir_HOME;

         WZDOSet\Stat,wzstat_HOME\Before,shape_HOME,R2_RoboAreaHome,1;

     ERROR

         ! #################### ##################### !

         ! #################### Handling error #################### !

         ! #################### ##################### !

         IF ERRNO=ERR_NO_ALIASIO_DEF THEN

             ErrWrite "ERR_NO_ALIASIO_DEF",""

                 \RL2:="The signal variable is a variable declared in RAPID. It has not been connected"

                 \RL3:=" to an I/O signal defined in the I/O configuration with the AliasIO instruction.";

             TRYNEXT;

         ENDIF

         IF ERRNO=ERR_NORUNUNIT THEN

             ErrWrite "ERR_NORUNUNIT",""

                 \RL2:="There is no contact with the I/O device.";

             TRYNEXT;

         ENDIF

         IF ERRNO=ERR_SIG_NOT_VALID THEN

             ErrWrite "ERR_SIG_NOT_VALID",""

                 \RL2:="The I/O signal cannot be accessed. The reasons may be that the device"

                 \RL3:=" I/O not working or an error in the configuration.";

             TRYNEXT;

         ENDIF

     ENDPROC

ENDMODULE

! Execute the routine call in the PowerOn event