Interrupt in Pickmaster? [PickMaster 3]

PickMaster
1

Hi,

Here are my problem:

I use Pickmaster via RIS (RS232 COM port). I use RIS to reset the E-stop to reset E-Stop state. The robot is now in PAUSE mode.

When I re-start the robot with RIS, the robot start from where it was before the E-stop. I need to avoid the robot to re-start picking after the E-stop without flushing the Queue. I would like to use an interrupt to stop the robot when it restarts and to move it above a position to drop the piece in a bucket and then restart to pick.

I’ve tried to turn on an input from a PLC when the robot is in PAUSE to start an Interrupt procedure. When the robot is running as normal, the interrupt works well. When the robot is in Pause mode (back from the e-stop) and restarted, it does’nt enter the Interrupt procedure even if the interrupt input is set to 1…

How can I avoid the robot to restart picking after the E-stop without loosing my Queue??? Can I use Interrupt signal in pause? Does this signal look the rising edge of the interrupt signal?

Thanks for your help

Nick

2

Nick,

The default restart behaviour of PickMaster is to always move the robot into the SafePosition and drop off the product (no flushing of the queue). The SafePos can be positioned over the bucket.

Roger.