home position signal request

RobotStudio
1

Dear All,
I am new at ABB Robot programming.
I commissioning ABB robot with Siemens PLC. I need home postion signal at PLC side. Please show me rapid pseudo code on robotstido.
As my research, I may use
“”““WZHomeJointDef\Inside,joint_space,HomePose,delta_pos;
WZDOSet\Stat,wzHomePose\Inside,joint_space,doAtHomePose,1;””"

Could you help ?

2

Hi …
Yes it can be like this. For this an area needs to be created, so when the robot is in this area it will set the output for the PLC.

See if that helps…

! Declaration of the signal in the menu “Configuratio\IO\Signal” in case of communication with profinet
-Name “RobotHome” -SignalType “DO” -Unit “DSQC688_PROFINET”
-SignalLabel “SIGNAL OF ROBO ACCESSING THE HOME AREA” -UnitMap “10”
-Access “ReadOnly”

! In a module it can be done this way…
MODULE ModuleWZ

! #################### POSITIONS TO BE USED TO DEFINE OBJECT AREAS - USED: tGripperG and wobj0;
LOCAL CONST robtarget PBOX_HOME_L:=[[765,0,1390],[2.45295E-05,9.20422E-06,-1,-2.25732E-10],[0,0,-1,0],[9E+ 09.9E+09.9E+09.9E+09.9E+09.9E+09]];

!! ZONE DEFINITION: HOME ############################################### #############
CONST pos cornerInfEsq_HOME:=[PBOX_HOME_L.trans.x-50,PBOX_HOME_L.trans.y-30,PBOX_HOME_L.trans.z-50];
CONST pos cornerSupDir_HOME:=[PBOX_HOME_L.trans.x+50,PBOX_HOME_L.trans.y+30,PBOX_HOME_L.trans.z+50];
VAR shapedata shape_HOME;
VAR wzstationary wzstat_HOME;

!! PROCEDURE FOR DEFINING OBJECT AREAS ############################################## ##############
! This routine is linked to the PowerOn event
!
PROC DefineWZ()
! AREAS OF MAPPED OBJECTS
!Wordzone definition HOME zone
WZBoxDef\Inside,shape_HOME,cornerInfEsq_HOME,cornerSupDir_HOME;
WZDOSet\Stat,wzstat_HOME\Before,shape_HOME,R2_RoboAreaHome,1;
ERROR
! #################### ##################### !
! #################### Handling error #################### !
! #################### ##################### !

IF ERRNO=ERR_NO_ALIASIO_DEF THEN
ErrWrite “ERR_NO_ALIASIO_DEF”,“”
\RL2:=“The signal variable is a variable declared in RAPID. It has not been connected”
\RL3:=" to an I/O signal defined in the I/O configuration with the AliasIO instruction.";

TRYNEXT;
ENDIF

IF ERRNO=ERR_NORUNUNIT THEN
ErrWrite “ERR_NORUNUNIT”,“”
\RL2:=“There is no contact with the I/O device.”;

TRYNEXT;
ENDIF

IF ERRNO=ERR_SIG_NOT_VALID THEN
ErrWrite “ERR_SIG_NOT_VALID”,“”
\RL2:=“The I/O signal cannot be accessed. The reasons may be that the device”
\RL3:=" I/O not working or an error in the configuration.";

TRYNEXT;
ENDIF
ENDPROC
ENDMODULE

! Execute the routine call in the PowerOn event