How to continue cycle in automatic mode

MakomoJT · July 2019

Hello
I have a code that is getting coordinates from MATLAB for a pick and place operation. I switched to continous mode on the controller, I run the codes from MATLAB and coordinates are given to the robot but the robot does that one cycle alone. When new coordinates are found and sent, the robot is nolonger moving to the object, neither are the new coordinates written on the flex pendant. I request help on why it is not going continuously. Below is the code:

MODULE Module1

CONST robtarget home:=[[234.80,469.37,226.34],[0.0195519,-0.951851,0.0534726,-0.301227],[-1,0,-3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget home_2:=[[234.80,475.28,226.35],[0.0194946,-0.95184,0.0535081,-0.301259],[-1,0,-3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget predrop:=[[362.39,825.00,219.32],[0.0194847,-0.951856,0.0535358,-0.301205],[0,0,-3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget drop:=[[362.72,826.63,117.28],[0.0193944,-0.951708,0.053578,-0.301671],[0,0,-3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

VAR robtarget cartesianTarget;

VAR bool ok;

VAR pos p;

VAR rawbytes data;

VAR socketdev server;

VAR socketdev client;

VAR string cartesiancoordinates;

VAR string client_ip;

VAR num i;

VAR num X;

VAR num Y;

VAR num Z;

PROC main()

SocketCreate server;

SocketBind server, "192.168.125.1", 5992;

SocketListen server;

!SocketAccept server, client;

ClearRawBytes data;

WHILE TRUE DO

SocketAccept server, client\ClientAddress:=client_ip\Time:=WAIT_MAX;

cartesiancoordinates := "";

ClearRawBytes data;

SocketReceive client \Str:=cartesiancoordinates;

p:= [X, Y, Z];

ok:= StrToVal(cartesiancoordinates,p);

TPWrite "cartesiancoordinates="\pos:=p;

SocketClose client;

cartesianTarget:= [p,[0.00951845,0.94131,-0.100202,0.322188],[0,0,-3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

Path_10;

ENDWHILE

SocketClose server;

ENDPROC

PROC Path_10()

MoveJ home, v500, fine, VacuumTool\WObj:=Workobject_1;

MoveJ Offs(cartesianTarget,X,Y,Z), v50, fine, VacuumTool\WObj:=Workobject_1;

WaitTime 0.5;

SetDO IOKART_DO2,0;

SETDO IOKART_DO4,1;

WaitTime 0.5;

!MoveL home_2, v200, fine, VacuumTool\WObj:=Workobject_1;

MoveL predrop, v150, fine, VacuumTool\WObj:=Workobject_1;

MoveL drop, v150, fine, VacuumTool\WObj:=Workobject_1;

WaitTime 0.5;

SetDO IOKART_DO2,1;

SETDO IOKART_DO4,0;

WaitTime 0.5;

MoveL predrop, v150, fine, VacuumTool\WObj:=Workobject_1;

MoveL home_2, v150, fine, VacuumTool\WObj:=Workobject_1;

IF ERRNO>0 THEN

IF ERRNO=ERR_SOCK_TIMEOUT THEN

ELSE

i:=0;

ENDIF

! WaitTime 1;

ERROR

IF ERRNO=ERR_SOCK_TIMEOUT THEN

RETRY;

ELSEIF ERRNO=ERR_SOCK_CLOSED THEN

SocketClose server;

WaitTime 10;

SocketCreate server;

SocketConnect server, "192.168.125.1", 5992;

RETRY;

ELSE

TPWrite "ERRNO = "\Num:=ERRNO;

Stop;

ENDIF

ENDPROC

ENDMODULE

lemster68 · July 2019

So there are no errors? One very useful debug strategy is to use the step forward button, you can see line by line how the logic is being evaluated, what data values are changing.

JacquesTheAutomater · January 2021

You can change between single cycle and continuous Run Mode on the Flexpendant:

Image: https://us.v-cdn.net/5020483/uploads/editor/ga/8vkbm9m0edpr.png

There is also a system parameter that determines which run mode to use when switching between auto/manual modes, see "3.13.1 The Run Mode Settings type" in the Technical reference manual -System parameters document.

How to continue cycle in automatic mode

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