Help!! Gripper activating after releasing part w/o signal

smikesell7970

shown below is the code for placing a part in a machine and after the gripper releases it will reclamp w/o a signal before moving out of machine. Any suggestions?

PROC Place_VC_Gauge()

        PckPlc:=0;

        MoveL Offs(pPlc_VC_Gauge,200,0,400),v1500,z100,tGripperA\WObj:=wVC_Gauge;

        MoveL Offs(pPlc_VC_Gauge,0,0,200),v1500,z20,tGripperA\WObj:=wVC_Gauge;

        MoveL pPLC_VC_Gauge,v300,fine,tGripperA\WObj:=wVC_Gauge;

        Set GripA;

        WaitTime 0.5;

        !GripLoad load0;

        MoveL Offs(pPlc_VC_Gauge,0,0,150),v1500,z20,tGripperA\WObj:=wVC_Gauge;

        MoveL Offs(pPlc_VC_Gauge,300,0,400),v1500,z100,tGripperA\WObj:=wVC_Gauge;

        RETURN ;

    ENDPROC

soup

Your code looks good -- fine point, then trigger signal.

I guess -- check your signal settings.

• Miss mapping of signals?
• Mistaken GripA crossconnect?
• Multitask changing I/O?
• I/O unit setup / messed-up?
• Wires crossed?
• Gravitational pull of the moon?

Iowan

Blocked exhaust port on gripper?

PerSvensson

What about the code after because the program pointer runs ahead of the motion which can do that I/O is executed ahead. Use Trigg instruction to control the IO signals during motion