Howto interlock all movement both in Auto and Manuell Jog?[Moved]

Robot Controller
1

Hi, if i want to stop the robot and not allow it to move until the operator sets an “Overide” signal what would be the best way to do it?

I have a Separate “semistatic” task that checks for a Ok signal from the PLC and also it checks a Worldzone:

IF diPositionerOK = 0 AND DOutput(doNotZonePositioner) = 0 THEN

… stop all movement both in automatic mode and jogging mode

WaitDI OverrideInterlock, 1;

Allow all movement both in automatic mode and jogging mode

Best Regards

Mikael

2

what would be the purpose of needing an override signal for running in manual? are you trying to limit access to jogging the robot from un authorised people? this could be accomplished much cleaner by assigning logins in the UAS and specifying either what individuals can do or groups (ie maintenance, supervisors, ect…)

3

The main reason is due to the setup of other robots in the factory, for example the factory also have motoman robots, that has the interlock programmed in this fashion. I ended up doing the following, connecting the doQuickStop to the systeminput Quickstop:

MODULE VippaCheckMod

VAR bool bInterlock;

PROC main()

IF diVippaOK=0 AND DiEjZonVippa=0 AND bInterlock=FALSE THEN

Set doQuickStop;

ELSEIF bInterlock=TRUE THEN

Reset doQuickStop;

ENDIF

ENDPROC

ENDMODULE

4

Hi,

if you are using Multitasking, you can use the StopMove and the StartMove instruction

like:

StopMove;

WaitDI ready_input,1;

StartMove;

BR

Micky