RAPID command

unsaint32

We have been having an unreliable input signal issue that triggers false MoveL. 

WaitDI PART_PRESENT, 1;

            MoveL p20, v7000, fine, toolGRIPPER;

The "PART_PRESENT" is from a photo eye.  Normally when there is no part blocking the photo eye, the PE signal is 0 (steady 00000000 for example).  But whenever the photo eye reflector gets dirty, the signal status changes erractically (01010100001110000 for example) causing the MoveL wrongly .  I'm not familir with RAPID code.  Is there a timer command that times the duration of an input signal status?  If so, I can time the input signal to make sure the signal is reliable.     

The robot has ethernet connection to a Controllogix.  I could probably use the photo_eye signal as an input to the PLC, then do the timing in the PLC, then have the PLC imer DN bit to trigger the robot's PART_PRESENT.  But it would be much simpler if there was a RAPID command for a timer output. 

Thanks. 

kioog

Hello,

in your definition of the Input signal, you can use the "Filter Time Active" parameter where you can filter out noise.
check the manual "system parameters", topic "I/O system"

BR
Peter