TriggL with zones

RobotStudio
1

Hi,

I have a TriggL instruction with a TriggInt, but the trap routine only runs if I use a fine point. In the rapid reference the example has a zone configured. I’ve tried setting the TriggInt to fire at various distances from the target position, inlcuding 0, but it only ever works if I use a fine point.

CONNECT OpenClampsInt WITH OpenClampsTrap;
TRIGGINT OpenClampsTrigg,0,OpenClampsInt;
!Move up to the flyby and open the clamps once clear of the product
TriggL pNextPosition,DepartSpeed,OpenClampsTrigg,fine,Gripper;
IDELETE OpenClampsInt;

Any ideas what I’m doing wrong?

2

Hi

I think the reason is that when using zone, the IDelete instruction is executed before trap is fired. Try to execute without IDelete or execute it later in the program.

-Osku

3

HiI always execute a IDelete before I do a CONNECT in that way you always know that the connect will work and don’t have to care about that PP is running ahead.

4

You should be able to put the IDELETE just before the CONNECT.

IDELETE OpenClampsInt;
CONNECT OpenClampsInt WITH OpenClampsTrap;
TRIGGINT OpenClampsTrigg,0,OpenClampsInt;
!Move up to the flyby and open the clamps once clear of the product
TriggL pNextPosition,DepartSpeed,OpenClampsTrigg,fine,Gripper;

Then you should be able to change the zone to something larger.

5

Thanks, so obvious when you say it like that!

6

[QUOTE=Gizmo]

Thanks, so obvious when you say it like that![/QUOTE]

lol, ahahahaha