Handling 'stops' in IRC5

vashistengineer

Hello,

 

I'm considering "welding application" for instance.

 

During execution, suppose any of the 'stops' occur. I want to make a program, which first detects the type of 'stop' that has occured. Then it prompts the operator on the flex pendant for two options:

1. Do you want to continue welding?
2. Do you want robot to go to HomePos safely?

Now if the operator selects first option (seeing the feasibilty of the welding), the robot should continue welding with desired parameters.

Else if the operator selects second option (seeing the condition of the welding), the robot should run a HomePos routine, which will return the robot to home position avoiding all obstacles.

 

My prime concern the code/function to implement it. Logically, we need to monitor all the 'stops' continuously. This can be achieved by monitering the "run chain". But retaining the position where the robot has stopped needs attention, and this is where I seek help.

gomzy0404

hi vashisht,

I think u can use Interupts to do this particular task.
U can set up different interrupt priorities to differnt interupt. say example u hve one to handle run chain next to hanlde if gripper pressure swithches are not workin etc. This can save robot's round robin task.

Go through rapid reference manulas, u can use' CONNECT' instruction to handle interrupts..and write a small subroutine to handle that particular interrupt.as in ur  case ask  operators to handle robots move..

Ther could be more options availabe that can work out for u..

Could you help my post plzz?

tacnurt

You can use the TPFkey function as well. These put prompts on the screen for the user to decide what to do from there. Something like this??   If the stop occurs prompt two (2) options ....1. continue on and 2. run the Home() routine.

Do you think this would work for you? You would most likely have to use a while loop.

vashistengineer

Hello,

 

Yes. While loop will click the correct logic

 

While all the 'stops' stays off, the normal execution will continue. And else the two conditions can be displayed with 'TPRead' function. For second option, we can call the HomePos routine

 

But how to retain the position of the robot when it suddenly stop due to any of the stop? Because the HomePos routine will try to take a linear or shortest path to go back home from the stopped position. It may not be safe as in the subject case, the welding fixture may be in the return path .

 

So I wanted to know the logic for this HomePos routine. It is some kind of a SafeHomeRun, as we find in "IMM Plastics Ware" software!!

R.van Oosten

Take a look at the StorePath (and related) function(s)

frpa

The path recorder instructions (PathRecStart, etc.) should be able to help you to go back to a predefined point from where the home position can be reached safely.  

mattdavis

There is specific arc error handler installed with arcware that may already do what you want.

Have a look at configuration/proc/

and arc error handler and arc recovery menu options.

These will allow you to skip seams,retry or skip part etc.