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Levi Olson

Denso Intteruprtskip

3 posts in this topic

I have an RC5 controller and I am trying to use a PPT A20 camera to tell the robot when it has moved somthing far enough. I have my camera setup to give a pass signal when the two parts have aligned correctly. I have it turning an ice cube relay (basic relay with a no contact) I am trying to get it signal to be read on the controller. I see on my pendant controller that #516 in the I/O tab is labled as interupt skip. I can not for the life of me get this to turn from false to true (grey to green) I have tried tying wire #9 on CN8 to +24vdc on the CN7 and 0V on CN7 and I can't get it to turn on.

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more information. I am here because basically describes what i am feeling. here is the scenario. I have a robot that does a simple operation of sliding some pieces of shrink tube (See Kynar brand name) onto a metal device. due to the nature of the varying ID of the tube and form of the jaw i have it setup to have the distance it slides it down adjustable. this works about 80% of the time. I have setup a camera that sends and output when the plastic has gone far enough down. Right now all i am able to do is give the operator a light and say its ok to run. My end goal is instead of having the robot go to a predetermined adjustable point, i would have it try and go to its soft stop (anti crash point). I would do a move l @P(fill in your setpoint) this is inside of an Interrupt on and Interrupt off. loop. below is the actual code i have in the robot right now. 1. ‘!title “PRO1” 2. PROGRAM PRO1 3. TAKEARM 0 keep=0 4. DELAY 500 5. SET IO68 6. MOVE P,@0(206.5879,-178.6405,219.8750,250.6452) 7. DELAY 2500 8. MOVE P,@0(208.1961,-217.6848,219.8750,-251.0973) 9. MOVE P,@0(236.3828,-209.0977,219.8750,-242.9777) 10. MOVE P,@0(228.5655,-186.3092,224.4905,-243.3461) 11. WAIT IO[48] = ON 12. MOVE P,@0(208.1961,-217.6848,219.8750,-251.0973) 13. MOVE P,@0(206.5879,-178.6405,219.875,-250.6452) 14. RESET IO68 15. MOVE P,@0(226.1668,-171.8378,228.0000,-245.6507) 16. DELAY 550 17. SET IO64 18. DELAY 300 19. SET IO68 20. WAIT IO[48] = OFF 21. WAIT IO[48] = ON 22. RESET IO68 23. DELAY 400 24. SPEED 30 25. MOVE P,@0(226.17,-171.84,216.20,-245.6507,1) 26. DELAY 1000 27. RESET IO64 28. DELAY 300 29. MOVE P,@0(226.17,-171.84,225.000,-245.6507,1) 30. DELAY 300 31. SET IO64 32. DELAY 800 33. SPEED 10 34. INTERRUPT ON 35. MOVE P,@0(226.17,-171.84,216.20,-245.6507,1) 36. INTERRUPT OFF 37. DELAY 200 38. RESET IO64 39. DELAY 400 40. SPEED 100 41. MOVE P,@0(209.6289,-182.3257,219.8806,-251.2782,1) 42. WAIT IO[48] = OFF 43. IOBLOCK OFF 44. END I have tried injecting a +24vdc into pin #9 on CN8 I have also tried taking power from CN7 both 0V and +24VDC. neither of these are giving me the desired reaction. and Help is greatly appreciated.

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do you have manual: http://downloads.braasco.com/Denso/Manuals/RC5/RC5.pdf is your robot using NPN or PNP style I/O?

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