Can IO be reset when switching controller to MAN?

greenmr03

I've got a process with an IRC5 / IRB4600 that I'd to reset certain signalDO's when the system is put into manual. 

The short version is I need to prevent an operator from calling a routine if the robot was put in manual (and I can't verify what position the manipulator is in).  So I'd like to reset outputs that tells the PLC it's ok to run a move whenever the keyswitch is taken out of Auto.  

 

I've already covered a power down/up scenario with an event routine, but I don't know if something similar exists for mode change? 

 

 

charon

Hi greenmr03,

If you have multitasking option on your controller you can observe working mode in a background task (SEMISTATIC) and reset your work enable signal.

MODULE Operation

PROC main()

WHILE TRUE DO

TEST OpMode()

CASE OP_AUTO:

!

CASE OP_MAN_PROG:

Reset doEnable;

CASE OP_MAN_TEST:

!

DEFAULT:

!

ENDTEST

WaitTime 0.2;

ENDWHILE

ENDPROC

ENDMODULE

BR.

Marcel

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

 

If you have no multitasking you could use the event start and restart to check the manual mode because this is the first possibility to do any actions in the program. In this event routine you can reset the I/O signals. You could also directly give the PLC the system output for 'Auto On'.

 

Best regards

 

Marcel

greenmr03

Thanks, I went this route and it seems to be working.

 

I already had sent the PLC the AutoOn signal, but I wanted to error proof the process on the robot side.  I think this should work well for what I'm doing.