Is Motion Active?

AlanAutoTech

It has been a While for Me on the S4C Platform and i was looking to ask a few Questions. i will start out with the First:

How to Know that motion is Active programactically?

In another Robot Brand i would perform the below Code, but.... Im looking to Know a way to Set "bIsSettled"

Thanks,

****************** CODE BELOW EXAMPLE***************

 ;System variable mapping
 CONTINUE
    bEStopActive=iStationEStop 
 CONTINUE
    bIsCalibrated=$ROB_CAL
 CONTINUE
    bIsPowered=$PERI_RDY 

 ;Turn bRobotParked on and off appropriately
 CONTINUE
 bIsEmpty=($PRO_IP.P_ARRIVED==0)

    CONTINUE 
 IF (bIsEmpty and (not bIsEmptyLast)) or (not bIsEmpty) THEN
 CONTINUE
  nTmrSettled=$ROB_TIMER
  nTmrSettledQ=0
 ENDIF 
    CONTINUE 
 nTmrSettledQ=($ROB_TIMER-nTmrSettled) 
 bIsEmptyLast=bIsEmpty
 CONTINUE
 bIsSettled=$ROB_STOPPED AND NOT $PRO_MOVE AND (nTmrSettledQ>50)
 CONTINUE
    bRobotParked=bIsSettled AND (distance(pLocPoint[nPntPark],$POS_ACT)<25) 

Steve_Murphy

You will probably have to re-write a bit, the most natural instruction should be "WaitRob" which stops program execution until the robot has stopped moving.

Motion stops with the "fine" argument on the MoveL instruction.

 

  Steve