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maj9bj · ‎02-14-2022

For Integrated robotics application we need to modify existing user 3 point coordinate system directly from PLC code. The reason for this is we have an calibration mode in which we move robot manualy to marked (engraved) positions on external fixture using some calibration tool. After fixture repair (exchange) we would like to call special mode with some instructions for setter like: Move robot manually to point marked A. Confirm position. Move robot manually to point marked B. .......... Depend on teached points we will modify fixture coordinate system for automatic mode.

maj9bj · ‎02-14-2022

Here is the final code using SetOutputs method and ExecTime. ManMoveWrkPos := RUNNING; // Sequence for the manual function CASE _step OF 0: // Start command _manStartTime := TIME(); _rUnit.SetOutputs(Mode := BasMoveSetOutputMode.WRK_PATTERN); _step := _step + 1; 1: // Wait until finished ExecTimeMoveWrkPos := TIME() - _manStartTime; IF ( ExecTimeMoveWrkPos > T#2S ) AND {warning 'use station data here'} ( ExecMoveWrkPos = FALSE ) THEN _rUnit.SetOutputs(Mode := BasMoveSetOutputMode.ALL_FALSE); _step := 0; ManMoveWrkPos := OK; END_IF END_CASE

maj9bj · ‎02-14-2022

Hello Steffen, thanks for the hints! I think the method overriding is easiest way in this simple case. But points 1 and 2 are also useful. I only change output control to SetOutput method I didn't know about event though I was checking inner methods of object 😊. I was also trying _manStartTime, but my mistake was setting it in step 0 to T#0s instead of TIME() 🙄.

maj9bj · ‎02-10-2022

In our aplication there is a valve for oil dispensing controlled by BasMoveStandard object. In manual mode I would like to avoid to leave valve opened after pressing of WrkPos button. Reason for this is the oil starts leaking out uncontrollably. My request is (see image): Valve (FakeOutput) opens with pressing of the WrkPos (Dispense oil) button. After timeout the valve closes again. If someone holds the WrkPos button, the valve is still open. Button BasPos closes the valve normally. I solved this by overwriting manMoveWrkPos method of Extension but I am not sure if it is right way how to do that. Please let me know about your ideas how to solve this correctly. My code: METHOD ManMoveWrkPos : DINT VAR_INPUT END_VAR ManMoveWrkPos := RUNNING; // set timer _timer.PT := T#2S; {warning 'use station data here'} _timer(); // Sequence for the manual function CASE _step OF 0: // Start command _manStartTime := TIME(); BinIo._FakeOutput := TRUE; _timer.IN := TRUE; _step := _step + 1; 1: // Wait until finished ExecTimeMoveWrkPos := TIME() - _manStartTime; IF ( _timer.Q ) AND ( ExecMoveWrkPos = FALSE ) THEN _timer.IN := FALSE; BinIo._FakeOutput := FALSE; _step := 0; ManMoveWrkPos := OK; END_IF END_CASE

maj9bj · ‎01-10-2022

I do not remember it exactly, bacause I dealt similar problem two years ago, but please check content of the last line in your printer file. If the text A 1 is there, try replace it with A only. If it does not help, try to delete whole line.

Bosch Shared

About maj9bj

Modify 3 point coordinate system from PLC (Integrated robotics)

Re: Create custom behaviour for BasMoveStandard Extension

Re: Create custom behaviour for BasMoveStandard Extension

Create custom behaviour for BasMoveStandard Extension

Re: CAB printer with Nexeed v4.11

About maj9bj

Modify 3 point coordinate system from PLC (Integrated robotics)

Re: Create custom behaviour for BasMoveStandard Extension

Re: Create custom behaviour for BasMoveStandard Extension

Create custom behaviour for BasMoveStandard Extension

Re: CAB printer with Nexeed v4.11

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