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!
Solved! Go to Solution.
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
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?
At design-time signals and logic can be defined in std-mode.
But at run-time signals are only evaluated in line-sim-mode.
To me the separation between time-based and event-based makes sense...
Why do you want to avoid line-sim?
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!!!!
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.
I need to know how much LB do you need for the Robot interlock between 2 Robots.
In my case I have to combine 2 Robots with LB's
in the best way only in one LB (Name of the CollZoneNo) the problem is that I have not 3 Signals (Input Request, Input Release, Output ZoneFree) for one Robot but 5 Signals in my Case there are :
CollZoneNo = "parameter" Input
CollZoneReq = Bool Input
CollZoneFree = Bool Output "WaitSignal 0.2sec"
CollZoneRel = Bool Input
CollZoneClear = Bool Output "WaitSignal 1sec"
The Signal CollZoneClear I think should be a Safety request for is the Robot really driven out of the Zone.
Is it possible to put them together in one LB or is it not the right programming syntax?
I think about a good soloution if there are more then 2 Robots for one CollZone so that I can copy and paste the LB for more Robots or CollZones
In my case I think I have to build 3 Logic Blocks one for the CollZoneNo and one for each Robot is this the shortest way?
By the way I have some issue with the expression for the SR command how can I put more Signals together such as SR ( (a AND b OR c) (e AND f OR g)) but it is always invalid or is the only possible way to set or reset it with one Signal SR( X Y )?
If you only want to use LBs for robot interlock, I think you need one LB per robot.
But in this way it´s not that easy.
Or you create a LB for each collision zone. You will have many LBs but it´s easier to implement.
Regarding the invalid expression:
Currently, nested expression are not supported. You will have to create parameters to do this.
This will be improved in the future releases so you will be able to create nested expression and this will reduce using parameters.