Is Motion Active?

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AlanAutoTech
AlanAutoTech ✭
in Robot Controller


It has been a While for Me on the S4C Platform and i was looking to ask a few Questions. i will start out with the First:
How to Know that motion is Active programactically?
In another Robot Brand i would perform the below Code, but.... Im looking to Know a way to Set "bIsSettled"
Thanks,
****************** CODE BELOW EXAMPLE***************
 ;System variable mapping
 CONTINUE
    bEStopActive=iStationEStop 
 CONTINUE
    bIsCalibrated=$ROB_CAL
 CONTINUE
    bIsPowered=$PERI_RDY 
 ;Turn bRobotParked on and off appropriately
 CONTINUE
 bIsEmpty=($PRO_IP.P_ARRIVED==0)
    CONTINUE 
 IF (bIsEmpty and (not bIsEmptyLast)) or (not bIsEmpty) THEN
 CONTINUE
  nTmrSettled=$ROB_TIMER
  nTmrSettledQ=0
 ENDIF 
    CONTINUE 
 nTmrSettledQ=($ROB_TIMER-nTmrSettled) 
 bIsEmptyLast=bIsEmpty
 CONTINUE
 bIsSettled=$ROB_STOPPED AND NOT $PRO_MOVE AND (nTmrSettledQ>50)
 CONTINUE
    bRobotParked=bIsSettled AND (distance(pLocPoint[nPntPark],$POS_ACT)<25) 

Comments

  • Steve_Murphy
    Steve_Murphy ✭
    You will probably have to re-write a bit, the most natural instruction should be "WaitRob" which stops program execution until the robot has stopped moving.
    Motion stops with the "fine" argument on the MoveL instruction.

     

      Steve

     

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