Power Outage Restart

Adept Cobra i600 and i800 SCARA robots

Power Outage Restart

Postby Tom_Miller » Mon Nov 24, 2014 1:05 pm

Hello

How do you get the i800 robot to recover after a power outage? After a power outage all tasks are empty and I have to start the v+ program in its task each time to startup. On the models with a smart controller we setup an auto.v2 file that starts a task at power up, but I have not been able to find that type of feature in the software for the iseries robots.

Tom
Tom_Miller
 
Posts: 3
Joined: Mon Apr 14, 2014 6:49 am

Re: Power Outage Restart

Postby Guenter Grass » Tue Nov 25, 2014 12:59 am

Hi Tom,

the autostart on the Adept iCobra robots is done a little bit different. When the Autostart switch is activated the OS will automatically load all contents (programs and variables) of the NVRAM into the RAM. After that it will execute the program "auto()" in task 3 (EXECUTE 3 auto). This program auto() is a normal V+ program not a monitor command program.

To set the "Autostart" switch in ACE click on the robot object, then Menu "Configure - Switches and Parameters". Open "Switches - System" and set the checkmark for "Autostart".

Here is a typical auto() program.

.PROGRAM auto()
; Initialize global varibales
CALL var.init()

SPEED 100 ALWAYS

WHILE TRUE DO

CASE TASK(1,0) OF
VALUE 0, 1: ;Idle or program completed in task 0
CALL check_roboter()
IF SIG(e.plc.ready) THEN ;Checks PLC ready input signal
EXECUTE 0 main() ; start main program in task 0
END

VALUE 2: ; Stopped due to program error
PAUSE ; Debug, Pause Task 3 to debug task 0

VALUE 3: ; Aborted due to ABORT, NOTAUS, Breakpoint
KILL 0
SIGNAL –a.robot.ready

VALUE 4: ; Task 0 wird ausgeführt
IF NOT SIG(e.plc.ready) THEN ;Checks PLC ready input signal
ABORT 0
DO
WAIT
UNTIL TASK(1,0) <> 4
KILL 0
SIGNAL –a.robot.ready
END
END
WAIT
END
.END


Regards
Günter
Guenter Grass
 
Posts: 189
Joined: Thu Oct 16, 2008 4:34 am


Return to Cobra i600/i800

Who is online

Users browsing this forum: No registered users and 1 guest

cron