PM Start/Stop signal to controller [PickMaster 3]

PickMaster
1

How can I configure? or is that any signal I can use in robot controller to indicate the start/stop of pickmaster program.

I would like to used the start/stop signal to turn on/off my vacuum pump.

2

The start & stop button in PickMaster will only start or stop the PickMaster project. These buttons will not immidiately affect any digital I/O on the controller(s). However, if a signal is to be set whenever PickMaster is used it can easily be performed by implementing the following additions (in blue) to the default RAPID template.

PROC PickPlace()
TPWrite “PickPlace”;
InCoordRout:=FALSE;
SetDO doX_X;

PROC SafeStop()
VAR string time;
VAR string date;

InCoordRout:=FALSE;
SafeStopExecuted:=FALSE;
IDelete SafeStopSignal;
TPWrite “Safe stop requested “+CDate()+” “+CTime();
GotoRestartPos;
WaitTime 0.1;
IndReset IRB,4RefNum:=0Short;
WaitTime 0.2;
StopProcess:=FALSE;
SafeStopExecuted:=TRUE;
IF RemoteIPNode<>”” THEN
SCWriteToNode:=RemoteIPNode,SafeStopExecuted;
ENDIF
Reset doX_X;

The doX_X signal represents the digital output to be used.

If several controllers are used within the same project, the output signals from all controllers must be connected together with logical OR connections. By doing this, the vacuum pump will be running as long as at least one controller is running.