Analyze the role of F52 in the robotic gripping program
F52=TRUE
USR_S.Loop
F Mit_Greif_St AND $OUT[O_R_Proz_akt] AND NOT Hilf_Verr AND NOT B_Grei_StatTHEN
Mit_Greif_St with BMS module gripper - A4093 process activation - Hilf_Verr - no interlock information is issued -
IF($ROB_TIMER >(Greif_Timer + 3000))THEN
- Robot runtime value exceeds gripper time - Greif_Timer = 971420364 + 3000
B_Grei_Stat=TRUE – gripper static state control on -
ENDIF
ENDIF
USR_R.INT program
- Execute interrupt command 29-
GLOBALINTERRUPTDECL 29 WHEN B_Grei_Stat DO Greifer_Stat()
- Execute the program Greifer_Stat() with B_Grei_Stat
INTERRUPTON 29
;ENDFOLD
DEF Greifer_Stat()
IF Mit_Greif_St THEN
SEL_RES=SELECT(#MAKRO,341,TRUE,,,,,FALSE)-Execute Makro 341 program fixture clamping
Greif_Timer=$ROB_TIMER - save the robot time - 50 minutes once
B_Grei_Stat=FALSE
ENDIF
END
;ENDFOLD
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