Restarting after an e/stop [PickMaster 3]

PickMaster
1

Hi all,

I have two FlexPickers and a 140 in one machine running from PickMaster 3.13 tracking two conveyors.

If the machine is stopped (and then e/stopped) while there is an item on the gripper (i.e, after the pick, but before there is a place position available, then I want to be able to restart by just continuing and placing the item in the appropriate place item position on the conveyor.

If I used the standard template rapid as supplied, then on restarting the robot discards the item. If I comment out Coordinated; and Uncoordinated; in the Pick and Place routines then the item is not discarded, but the robot won’t start from PickMaster. If I try starting it from the teach pendant it wants to do a regain. I don’t know why, because it can sit there for two minutes without moving before stopping it and it still wants to do a regain movement.
If I say no to regain and try starting again from the teach pendant, it starts up and continues fine.

Surely this is a common scenario? I look forward to a response!

Regards,

Alistair Nicoll

If I could somehow clear the path would that help? But how do you do that if the program can’t start?

2

The Coordinated/Uncoordinated is controlling the return to the SafePos.
I suggest that you keep these calls and take care of the behavior after restart by checking the tool state.
This is a suggestion:

PROC PickPlace()
UnCoordinated;
ConfLOff;
ConfJOn;
MoveJ SafePos,VeryLowSpeed,fine,GripperWObj:=wobj0;
! Check if the tool holds any part and set the flag accordingly.
IF GOutput(goVacBlow1)=1 THEN
bRestartPlace:=TRUE;
ELSE

bRestartPlace:=FALSE;
SetGO goVacBlow1,0;
ENDIF
ConfJOff;
…

PROC PickPlaceSeq()
IF bRestartPlace=FALSE THEN
GoInterMidP IntPosPick1;
Pick PickIndex{1};
ENDIF
GoInterMidP IntPosPlace1;
Place PlaceIndex{1};
bRestartPlace:=FALSE;
ENDPROC

Note that this is a none tested suggestion.

Good Luck
Mats