Trigger - Events Table

RobotStudio RobotStudio S4
1

Hi,

We have a sensor installed on the gripper to detect the part in the gripper. The sensor is connected to DI1 on the board of the S4C + controller.

Here is an example of how the program work

main
“Home”
“Pick”
“To load”
“FromLoad”
“Leave”

I want add after the “Pick” procedure that if the DI1 is not activated, waiting to execute the next program procedure.

In the events table, the event is set to DI1 and action is set to macro.

However, I’m not familiar with VBA programming to build the macro.

Is there any possibility to program the trigger directly in the RAPID program without VBA macro?

Thanks

2

Hi,
In this case it’s no need to use an event.
It’s enough to add the rapid instruction “WaitDI DI,1;” in your robot program.
See the Rapid Reference manual form more information about “WaitDI”.