See if I understand:
Question 1: How to start and stop robot execution with a digital signal? ===> answer: use system inputs and outputs
Question 2: Start signal to always start at main & stop signal should reset some outputs and send the robot to the home position.
Correct?
Question 1 = I solve start and stop, I only write my DI and action, STOP and START AT MAIN
Question 2 = I want another DI: for exmample(DI_Reset), which when program is stoped, DI_Reset is connected, then robot move on one ‘‘Home’’ position, reset user DO and its all = robot stop moving, program not execution. But then if DI_Start connect program Start at main…
I hope you understand it. If not, You can write a message.
If I understand you correctly you want the robot to move to a home position when you set DI_Reset but only if the program has been stopped? if so you have a problem because you have stopped the robot program so the robot can’t move.
So I guess you wan’t to go to a home position if some one have set DI_Reset when the robot program was stopped, if not you want to skip the movement to the home position.
Correct?
Yes you got it !
So is there any other way to make something similiary ?
Thank you.
I would probably have a background task which keep track of signal changes(background tasks can run even if main program is stopped) and then have a event routine “start” where you move the robot to home if the condition is fulfilled. Beware of that this solution will move the robot to home after the program has been started again.
You could also disconnect the di_stop signal from the stop system input and connect it to a trap routine. Inside the trap routine, if the di_reset is high reset some outputs and do some movements to a home and stop, else just stop.
I looked manual, and I find this:
There is something call ‘‘service position’’ In my case what if be Home position ? and then program not resume but start at main ? What do you think about it ?
I try to applied it but I don’ know how :neutral:
Think, I solved my problem ! I attach link with simulation video, so you can see what I thought. This is just test station. Next week in school I upload program to controller and try it in real station. Maybe I again write, but I hope it will works. Thanks everybody for response ! :blush: :smile:
