Position to set output

Dup

Hi All

<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" /> 

I would like a output to be set when the robot is in a position eg. home position

How do I link a physical position to a output.

 

Thanks in advance 

frpa

Hello,

One way would be to define a small WorldZone that can be connected to an I/O.  Check out the WZxxx functions...

 

BR frpa

Dup

Thanks for the quick reply. I see there is an example in the rapid reference manual (pg724). I don?_Tt understand the values used in the delta position.

Anyway I will give it a go.

<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" /> 

Regards,

frpa

Hello,

In the online help in RobotStudio about RAPID istructions, you can find this example:

 

VAR wztemporary service;

PROC zone_output()

    VAR shapedata volume;

    CONST pos p_service:=[500,500,700];

    ...

    WZSphDef Inside, volume, p_service, 50;

    WZDOSet Temp, service Inside, volume, do_service, 1;

ENDPROC

 

I think that this would be the way for you to do it.

 

BR Fredrik

Dup

Thanks for the help so far, quick question?

<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" /> 

When the home position (robtarget) gets modified one has to go and change the pos variable to match the robtarget.

Is there a way to convert the robtarget to a pos to streamline the modifying of a home position.

Dup

The way to solve this problem is by using a wzstationary with WZHomeJointDef<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

The home position can now be created with a MoveAbsJ and modified easily.

 

The problem I am experiencing now is  that WZFree cannot be used for world zone stationary.

 

How can a routine be called only on Power on?

Dup

Ok figured it out<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

Define a procedure in the user.sys. Add the WZHomeJointDef and the WZDOSet to the procedure.

 Link the procedure to the power on event.  
    As a result you will see your SYS.cfg  parameter flie will look like this:   
  #
CAB_EXEC_HOOKS:
-Routine "myPoweron" -Shelf "POWER_ON" -Task "T_ROB1"