Position to set output

Robot Controller
1

Hi All

I would like a output to be set when the robot is in a position eg. home position

How do I link a physical position to a output.

Thanks in advance

2

Hello,
One way would be to define a small WorldZone that can be connected to an I/O. Check out the WZxxx functions…

BR frpa

3

Thanks for the quick reply. I see there is an example in the rapid reference manual (pg724). I don?_Tt understand the values used in the delta position.

Anyway I will give it a go.

Regards,

4

Hello,
In the online help in RobotStudio about RAPID istructions, you can find this example:

VAR wztemporary service;
PROC zone_output()
VAR shapedata volume;
CONST pos p_service:=[500,500,700];
…
WZSphDef Inside, volume, p_service, 50;
WZDOSet Temp, service Inside, volume, do_service, 1;
ENDPROC

I think that this would be the way for you to do it.

BR Fredrik

5

Thanks for the help so far, quick question?

When the home position (robtarget) gets modified one has to go and change the pos variable to match the robtarget.

Is there a way to convert the robtarget to a pos to streamline the modifying of a home position.

6

The way to solve this problem is by using a wzstationary with WZHomeJointDef

The home position can now be created with a MoveAbsJ and modified easily.

The problem I am experiencing now is that WZFree cannot be used for world zone stationary.

How can a routine be called only on Power on?

7

Ok figured it out

Define a procedure in the user.sys. Add the WZHomeJointDef and the WZDOSet to the procedure.

Link the procedure to the power on event.
As a result you will see your SYS.cfg parameter flie will look like this:

CAB_EXEC_HOOKS:
-Routine “myPoweron” -Shelf “POWER_ON” -Task “T_ROB1”