SystemStatus RunchOk S4C+

Robot Controller
1

Hello,

to check in RAPID if safety doors are OK i can create an virtual signal in IRC5 like this:

SYSSIG_OUT:

-Status “RunchOk” -Signal “soRunChOK”

If something similar in S4C+?

I have to know in S4-RAPID if AS1 and AS2 ok or not (not for safety reasons only to make teaching more easy without trying enable external device while doors are open!)

thanks dust2

2

This is copied from a eio.cfg for S4C+

SYSSIG_OUT:
-Status “RunchOk” -Signal “doSimRunchOkIRB”
Otherwise you can check directly on AS1 and AS2. They are accesible as I/O.

3

Thanks jyrgen

Status “RunchOk” -Signal “doSimRunchOkIRB”

This is working basicly, but in manuel mode with closed doors ( AS1 AND AS2) doSimRunchOKIRB is also FALSE as in manual mode with open doors!?

IF (TestDI (AS1) OR TestDI (AS2)) RETURN;

This return error unknown object AS1/AS2!

My problem is, that production and teaching new workpiece is all in manual mode. To distinguish between it, i want to have a look at AS1 and AS2!!?

dust2

4

Dust2,

You can’t get direct access to AS1 and AS2, but if you make an eio cross you can use them!

EIO_CROSS:

-Res “diSimAS1” -Act1 “AS1”

-Res “diSimAS2” -Act1 “AS2”

Jyrgen