REACTI

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REACTI

Postby kmashuga@msn.com » Wed Jan 07, 2009 5:00 pm

Hello everyone,

I'm using an Adept Cobra to pick small parts and assemble them, and
I'm having problems with the REACTI instruction. I'm using it to
monitor signal 1001 (robot gripper open sensor), which stops sending
a signal when the gripper is closed. I wrote a program called
React_lthr that's called when a part is dropped. It directs the
robot to brake, record the z location, retract the z-axis (quill),
open the gripper and go get another part. The problem is that most
of the time the signal is ignored when the part is dropped. I don't
know why it's not working - it did work at one time. I've even
monitored the IO command to be sure 1001 stops signaling when a part
is dropped and confirmed the signal with a volt meter. Below is the
section of code that monitors part presence during the pick and
place move.

;pick part
APPRO lthr, 25 ; approach pick location
MOVE lthr ; move down to pick location
BREAK
SIGNAL 35 ; close gripper
DEPART 75 ; depart with part

;begin monitoring part presence after it's picked
REACTI -1001, react_lthr ; Call react_lthr if part signal is lost
APPRO tq, 100 ; approach place location
MOVE tq:TRANS(,,dist-100) ; Move down to place location
BREAK
SIGNAL -35 ; open gripper
IGNORE 1001 ; Stop monitoring part presence
WAIT.EVENT, 0.1 ; wait
MOVE tq:TRANS(,,-75) ; place part

This is the React_lthr program:

REACTI -1001, react_lthr2, 2 ; begin monitoring for dropped part
BRAKE ; stop when part is dropped
HERE current.loc ; record current location
zlthr = DZ(current.loc) ; extract z component of location
zmove = (300-zlthr) ; determine depart distance
DEPART zmove ; depart to clear fixtures
APPRO lthr, 25 ; approach pick location
MOVE lthr ; move down to pick location
BREAK
SIGNAL 35 ; close gripper
DEPART 75 ; depart with part
RETURN

The React_lthr2 program is essentially the same program as React_lthr
and it's called if a part is dropped while React_lthr is running.

I could really use some advice from someone more experienced with
the REACTI instruction. Any ideas on what I'm doing wrong?

Thanks,

Kevin
kmashuga@msn.com
 
Posts: 7
Joined: Fri Jun 15, 2007 5:00 pm

SV: [adept_software] REACTI

Postby mtih@telia.com » Wed Jan 07, 2009 5:00 pm

DEPART 75 ; depart with part
mtih@telia.com
 
Posts: 35
Joined: Fri Jan 20, 2006 5:00 pm


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