[530] Advanced Functions
Product Specification RobotWare Options for BaseWare OS 4.0 15
Fixed position output
The value of an output (digital, analog or a group of digitals) can be ordered to change
at a certain distance before or after a programmed position. The output will then change
at the same place every time, irrespective of the robot’s speed.
Consideration can also be given to time delays in the process equipment. By specifying
this time delay, the output is set at the corresponding time before the robot reaches the
specified position.
The distance can also be specified as a certain time before the programmed position.
This time (max. 500 ms) must be within the deceleration time when approaching that
position.
Examples of applications:
- Handling press work, to provide a safe signalling system between the robot and
the press, which will reduce cycle times. Just as the robot leaves the press, an
output is set that starts the press.
- Starting and finishing process equipment. When using this function, the start
will always occur at the same position irrespective of the speed. For dispensing
and sealing, see DispenseWare.
Fixed position IO check
The value of an input/output signal (digital, analog or group) can be checked at a certain
distance before or after a programmed position. The signal will then be checked at the
same place every time, irrespective of the robot's speed.
The distance can also be specified as a certain time (max 500 ms) before the
programmed position.
The data being checked is compared with a certain programmed value and if the
comparison is false, the robot will stop and an interrupt routine will be executed. In the
interrupt routine appropriate error handling can be executed.
Examples of applications:
- A robot is used for extraction of parts from a die casting machine. Before enter-
ing the machine the robot can check, in the fly, if the gate is open. If not, the
robot will stop and, in the interrupt routine, wait for the gate to open.
Fixed position procedure call
A procedure call can be carried out when the robot passes the middle of a corner zone.
The position will remain the same, irrespective of the robot’s speed.
Example of application:
- In the press example above, it may be necessary to check a number of logical
conditions before setting the output that starts the press. A procedure which
takes care of the complete press start operation is called at a position just outside
the press.
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