Check Position after Stop

Enry

Good Morning,

I should like to check the Stop Position of the robot before to restart him in Auto ( After Emergency or if I switch in manual when the robot cycle running and someone move the robot in manual ). How can I do ?

Thanks

 

Henrik Berlin

Moved to RobotWare forum.

CaptainAwesome

I'm also interested in this. Maybe this thread [1] can help you (and me :-D) but I haven't tried yet.

[1] http://forums.robotstudio.com/forum_posts.asp?TID=6995

Enry

Good morning to Everybody, 
I have tried this procedure inserted in the Main:

 PROC StopCiclo() 
  !------------------------------------------------------------- 
  !--- ROUTINE DI STOP CICLO TRAMITE EVENT -----
  !-------- Gestito con Event STOP Controller --------
  !-------------------------------------------------------------
  ! Memorizza Posizione in Giunti 
  ! Solo in ModalitA? AUTO 
  TEST OpMode() 
  CASE OP_Auto: 
   StopMove; 
   jStop := CJointT(); 
  ENDTEST 
  ! 
 ENDPROC 

Recalling from "Control panel Configuration Controller Event Routine Stop & QStop" the aforesaid Routine, succeeds in memorizing the position of the robot in the moment in which he stops. 
To check to the I Start or Reboot of the robot that the position has remained the same one to the moment in which is stopped, call from "Control panel Configuration Controller Event Routine Start & Restart" the following procedure:

 PROC RestartCiclo() 
  VAR jointtarget jActPos; 
  !------------------------------------------------------------- 
  !-- ROUTINE DI RESTART CICLO TRAMITE EVENT --
  !------ Gestito con Event RESTART Controller ------
  !-------------------------------------------------------------  
  ! 
  Evento := TRUE; 
  CheckActualPos; 
  ! 
  IF DI_PLC_Richiesta_Aborto_Ciclo = 1 THEN 
   ! 
   StopMove; 
   ClearPath; 
   StartMove; 
   ExitCycle; 
   ! 
  ELSE 
   StartMove; 
  ENDIF 
  ! 
 ENDPROC 
 
where the routine "CheckActualPos" it is the following
 
 PROC CheckActualPos() 
  VAR jointtarget jActPos; 
  ! 
  IF DOutput(DO10_1) = 0 AND DOutput(DO10_2) = 0 THEN 
   ! 
   ! Solo in ModalitA? AUTO 
   TEST OpMode() 
   CASE OP_Auto: 
    ! Recupera posizione attuale in Giunti 
    jActPos:= CJointT(); 
    ! 
    TPWrite "entra"; 
    ! 
    IF (Abs(jActPos.robax.rax_1) - Abs(jStop.robax.rax_1)) > 0.2 THEN 
     GOTO ErroreAsse; 
    ENDIF 
    IF (Abs(jActPos.robax.rax_2) - Abs(jStop.robax.rax_2)) > 0.2 THEN 
     GOTO ErroreAsse; 
    ENDIF 
    IF (Abs(jActPos.robax.rax_3) - Abs(jStop.robax.rax_3)) > 0.2 THEN 
     GOTO ErroreAsse; 
    ENDIF 
    IF Abs(jActPos.robax.rax_4) - Abs(jStop.robax.rax_4) > 0.2 THEN 
     GOTO ErroreAsse; 
    ENDIF 
    IF Abs(jActPos.robax.rax_5) - Abs(jStop.robax.rax_5) > 0.2 THEN 
     GOTO ErroreAsse; 
    ENDIF 
    IF Abs(jActPos.robax.rax_6) - Abs(jStop.robax.rax_6) > 0.2 THEN 
     GOTO ErroreAsse; 
    ELSE 
     GOTO NoErrore; 
    ENDIF 
    ErroreAsse: 
    ! 
    Esito := GestioneErrori(6); 
    ExitCycle; 
    NoErrore: 
    ! 
   ENDTEST 
   ! 
  ENDIF 
  ! 
 ENDPROC 
 
Verifying to move only also in manual after the Stop an axle more of 0.2, doesn't go to error!!! 
Does someone know how to tell me where I am being wrong? 
Thanks to Everybody.