Software Interrupt for Motion Supervision

CaptainAwesome

Hello my fellow Roboticists!

is there a way to execute a software interrupt whenever Motion Supervision gets triggered, or, more generally, the system is halted? 

I run a program on a PC that is communicating with the robot. This program needs to know whether the robot has come to an extraordinary halt. Communication with the robot is done via polling (i.e., certain state variables are read periodically from the robot). It would be very convenient if it was possible to set a variable so the PC program can see that the robot has stopped.

Thank you very much.

Best regards, CA

PS: I'm using an IRB120 with IC5 Compact

CaptainAwesome2012-11-08 13:11:32

Henrik Berlin

Have you tried setting a System Output as described in the System Parameter Reference manual?

Marcel

Hi

You could use the background task to check the state of the error code.

You could also check the error code in a stop event routine of the main task.

Best regards

Marcel

CaptainAwesome

Thank you for your responses!

@Hendrik: I see, the MOTLMP system output looks like exactly what I need. Is there a way to access it from the PC SDK? I haven't found any information on that.

@Marcel: Good idea. If it's impossible to access the MOTLMP system output from the PC SDK, this is what I will do. Thanks.

Henrik Berlin

This is really outside my area of expertise, but I assume PC-SDK will be able to read values of digital signals. And since the System Output connects a certain system status to an output signal you are done: configure a system output to trigger a certain I/O signal, and read its value from PC-SDK.

CaptainAwesome

Dear Henrik, thank you. 

However, I have one more problem: how can I "configure a system output to trigger a certain I/O signal"? I can't access the MOTLMP variable from my RAPID program. Reading the abundance of manuals has not brought me any insight so far

CaptainAwesome2012-11-09 11:38:40

Marcel

Hi

 

You could take a system output.

EIO.cfg:

#
SYSSIG_OUT:

      -Status "MotOnState" -Signal "doRobMotOnState"

 

Or you could do a crossconnection with the system signal MOTLMP then you see it in the rapid code.

EIO.cfg:

#
EIO_CROSS:

      -Res "doRobMotOnLamp" -Act1 "MOTLMP"

 

Best regards

Marcel

 

Henrik Berlin

I started to work on a reply, but Marcel was quicker. Anyway here's mine:

 

You need to configure a new output signal and define a new system output. I have recorded a video that illustrates the procedure.

 

https://dl.dropbox.com/u/16504373/Forum/SystemOutput.mp4

 

 

Henrik Berlin2012-11-09 15:25:32

CaptainAwesome

Thank you both. That helped enormously. Have a nice weekend :-D