4.3.2. Sensor based mastering test
4.3.2. Sensor based mastering test
After setting the mastering test parameters in mastering test menu, sensor based mastering test(SBMT) needs programming with function MSTtest and system variable _MSTRef, _MSTResult. The embedded PLC should be programmed for dual sensor input signal.
Table 4‑10 Mastering test function and variable
MSTtest | ||
Explanation | This function defines make a branch according to condition. | |
Syntax | MSTtest G=<group No.> TEHN CALL <program No.> | |
Parameter | Group number | Groups number for mastering test (1~3) |
Program number | MST program number | |
Example | MSTtest G=1 THEN CALL 10 | |
_MSTRef | ||
Explanation | This variable means reference position which configured in mastering test menu. | |
Syntax | _MSTRef<group No.> | |
Example | P1=_MSTRef1 | |
_MSTResult | ||
Explanation | This variable means the result of mastering test (0=fail, 1=pass) | |
Syntax | _MSTResult<group No.> | |
Example | V1%=_MSTResult1 | |
Table 4‑11 Mastering test programming
MST Program | |
Explanation | - Teaching reference position and approach positions - Approach positions are moving to reference position to avoid collision - Reference position is the value configured in mastering test menu - Reference position should be assigned to Pose variable by using _MSTRef - Set the speed to move reference position should be slow enough for safety - Insert WAIT for decision of _MSTResult after arrived at reference position |
Example | P1=_MSTRef1 MOVE L, S=60%,A=1,T=1 : approach position MOVE L, P1, S=5%,A=0,T=1 : Reference position WAIT 1=_MSTResult1, 10, S5 MOVE L, S=60%,A=1,T=1 END |
Main Program | |
Explanation | - Insert the function MSTtest in the main JOB program. - MSTtest will call MST program when the time meets |
Example | MOVE L, S=60%,A=1,T=1 MOVE L, S=60%,A=1,T=1 MOVE L, S=60%,A=1,T=1 ……
MSTtest G=1 THEN CALL 10 END |
The number of groups is same with the number of MST programs. | |
If the robot controller did not receive sensor signal at reference position or MSTtest did not perform within test cycle time, STO will be triggered and the robot could move for max limited time.