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[PS 11.1] How to define a Logic Block for simulating robot interlocks

Hello,

 

I am trying to simulate the interlocks between two robots. It should supposedly work with CEE logic blocks. But  I have no idea how to model the logic resource. The help file doesn't provide the necessary information for me.

Therefore I want to ask if anyone can provide a simple example study or a step by step guide?

Thank you very much!

 

7 REPLIES

Re: [PS 11.1] How to define a Logic Block for simulating robot interlocks

Hello,

 

you must create a new logic block with 2 inputs and 1 output signals.

 

input 1 is insert the zone

input 2 is release the zone

output 1 is zone 1 is empty

 

in the logic block you set and parameter zone 1 to true after start

 

these parameter signal present the coll zone 1

 

with the first input set the internal signal to false

with signal two you set the internal signal to true

 

you must check in OLP or Motion command the output signal with olp logic.

 

wait signal TRUE      Zone 1 is free

set signal 1 to lb       Zone 1 is close

 

end of path

 

set signal 2 to lb       Zone 1 is free

 

Kind regards,

Benjamin Voelzke

Re: [PS 11.1] How to define a Logic Block for simulating robot interlocks

Hello,

 

i have not tried it yet due to a missing eMserver connection.

But I have an additional question.

Does this work in standard mode or only in Line Simulation mode?

Solution
Solution
Accepted by topic author MarkusH
‎10-07-2015 05:06 AM

Re: [PS 11.1] How to define a Logic Block for simulating robot interlocks

Unfortunately not.

At design-time signals and logic can be defined in std-mode.

But at run-time signals are only evaluated in line-sim-mode.

 

Re: [PS 11.1] How to define a Logic Block for simulating robot interlocks

I am at a loss for words!

Smiley Frustrated

Re: [PS 11.1] How to define a Logic Block for simulating robot interlocks

To me the separation between time-based and event-based makes sense...

Why do you want to avoid line-sim?

 

Re: [PS 11.1] How to define a Logic Block for simulating robot interlocks

Hi Guido,

 

I do not want to avoid line simulation.

The point is that the customer does not allow line simulated studies!

 

So we have to find a solution in standard mode!

I want Robcad back!!!!

Re: [PS 11.1] How to define a Logic Block for simulating robot interlocks

Hello,

 

one chance is simulated with default controller.

with default controller ps can work with signals. (in standard Mode)

 

These are the same functionality of RobCad.

Kind regards,

Benjamin Voelzke