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

Robot Controller
1

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

2

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?
3

Blocked exhaust port on gripper?

4

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