Quires about RAPID.

ittoop

Hi ,



I am new to ROBOT and its RAPID programming language.

I have written RAPID program for our IRC5 robot for an application.  We
are using this robot with a laser for some material processing application. All
subsystems of the laser are interfaced to robot controller through
Device-Net interface. Through this interface we are able to ON and OFF the
laser from RAPID program.



I have following quires about RAPID.



1. How I can switch OFF the laser If  robot is stopped, due to some error,
during the processing of a job. 



2. How I can switch OFF the laser If some one pressed emergency stop (E_STOP)
on Flex pendent. How I can get the information in my RAPID program that the
operator has pressed E-STOP.



Thanks and Regards

Ittoop M.O.

charon

Hi,

You can use system output signals for observing process status (emergencys stop, motor on state, motion supervision...etc.).

If you have multitasking option you can create a semi static task for just monitoring purposes.


!============================================
! doRobEmgStop : SYS_OUTPUT
! doError : SYS_OUTPUT
! doMotSupervision : SYS_OUTPUT
! doMotorOffState : SYS_OUTPUT
!============================================
MODULE Monitor
    WHILE TRUE DO
          IF DOutput(doRobEmgStop)=1 OR DOutput(doError)=1 OR DOutput(doMotorOffState)=1 THEN
                       Reset doLaser;
          ENDIF
    ENDWHILE
ENDMODULE

If you dont have multitasking option u can use TRAP routines.

BR.

charon2010-10-06 11:46:43

ittoop

Hi charo,



Thank you very much Charo. We have multitasking option.  But I am not
familiar with how to setup different tasks in multitasking. So, first I
will try with TRAP routine.

Thanks and regards

Ittoop

ittoop2010-10-07 06:15:21

osku

Hi

You might also consider using I/O cross connections and system outputs. You can define cross connections in I/O system parameters and therefore they will work even if your program is stopped. 

For example you can make a new virtual output and define that as a system output CycleOn. Then you can make a second virtual output which you will use in your program instead of doLaser. Finally you can cross connect these two outputs with logical 'AND' operator to your physical output doLaser. This way the doLaser will be high only when your virtual output will be set high in the program AND the program is executing.

You can also use cross connections to reset the doLaser in E-stop state, but if the laser is hazardous and should be shut down in E-stop situation, then you might consider to attach the laser safety system as a part of the robot safety system. This way you can be sure that the laser will shut down when e-stop is pressed even if someone would change the program or the system parameters.

Please find more info from the System Parameters Reference manual which is found for example under help button in RobotStudio.

-Osku

Knud E Lindberg

Hi

You shot also include a wait time in the loop of 100ms - 200ms, this will lower the load of the system wile running.

 

waittime 0.2 ;

 

mrMagoo

Rather than re-inventing the wheel I suggest that you use/order the ArcWare option

as it has all the functionality you're looking for.

 

Should you for some reason want to add/modify the appearance of it it's easy to encapsulate the arc instructions into instructions of your own so you can still have your own look and feel, but the safety and features of ArcWare.

 

//M

ittoop

charo, Osku,  Knud Erik Lindberg  and mrMagoo ,

Thank you very much for sharing your ideas. It helped me a lot.  I have tried your suggestions on Robot-studio and it is working. Now I am going to try  the modified program in actual system.

Thanks and regards

Ittoop

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ittoop

Hi ,

We have multitasking option.  But I am not
familiar with how to setup different tasks in multitasking. Can you explain or is there any document with step by step instructions. I want to run two tasks in parallel.

Thanks and regards

Ittoop

ittoop2010-11-23 10:59:26