RobotStudio event

Howto interlock all movement both in Auto and Manuell Jog?[Moved]

enmi1980
enmi1980 ✭
edited February 2014 in Robot Controller

Hi, if i want to stop the robot and not allow it to move until the operator sets an "Overide" signal what would be the best way to do it?

I have a Separate "semistatic" task that checks for a Ok signal from the PLC and also it checks a Worldzone:

IF diPositionerOK = 0 AND DOutput(doNotZonePositioner) = 0 THEN

... stop all movement both in automatic mode and jogging mode

WaitDI OverrideInterlock, 1;Allow all movement both in automatic mode and jogging modeBest Regards Mikael
Post edited by Jonathan Karlsson on

Comments

  • Dan Kobus
    Dan Kobus ✭
    what would be the purpose of needing an override signal for running in manual? are you trying to limit access to jogging the robot from un authorised people? this could be accomplished much cleaner by assigning logins in the UAS and specifying either what individuals can do or groups (ie maintenance, supervisors, ect...) 
  • enmi1980
    enmi1980 ✭

    The main reason is due to the setup of other robots in the factory, for example the factory also have motoman robots, that has the interlock programmed in this fashion. I ended up doing the following, connecting the doQuickStop to the systeminput Quickstop:

    MODULE VippaCheckMod

    VAR bool bInterlock;

    PROC main()

    IF diVippaOK=0 AND DiEjZonVippa=0 AND bInterlock=FALSE THEN

    Set doQuickStop;

    ELSEIF bInterlock=TRUE THEN

    Reset doQuickStop;

    ENDIF

    ENDPROC

    ENDMODULE
  • Micky
    Micky ✭✭✭

    Hi,

    if you are using Multitasking, you can use the StopMove and the StartMove instruction

     

    like:

    StopMove;

    WaitDI ready_input,1;

    StartMove;

     

    BR

    Micky

     

     

     

Categories

In this Discussion