Loctite CARTESIAN 200 Manual Do Utilizador

Wait Condition: waitCond,waitCondTime,timeUp,endWait

This section explains the point job data commands for waiting until the sensor (connected to
#genIn2) comes ON. These commands belong to the category [Wait Condition.]

Command

Category

Command Parameter

Job

waitCondTime Period

for

Time

Out Waits for conditions for a certain period.

timeUp -

Executes when time is up.

endWait -

End of WAIT command

Wait Condition

waitCond -

Waits for conditions.

Wait Condition commands are invalid at the CP Passing Point or a point whose Base Type is
CP Passing Point.

Be sure to put condition commands after “waitCond” or “waitCondTime.”

waitCond … endWait : Wait until conditions are met.

e.g.: A workpiece exists. → Sensor (#genIn2) ON

Condition

A workpiece does not exist. → Sensor (#genIn2) OFF

waitCond
ld #genIn2
endWait

   Stand by in place until the following conditions are met.
    #genIn2=ON (Condition)
   End of the condition line.

waitCondtime … timeUp … endWait: Wait for the specified period of time until conditions are met.
e.g.: If workpieces do not come within 30 seconds, it is recognized as an error, an external lamp

(connected to #genOut2) comes ON, and the robot stands by until a start instruction comes.

To re-start running the robot, resolve the problem and press the start button.

waitCondTime 3000
   ld #genIn2
timeUp
   set #genOut2
   waitStartBZ
   reset #genOut2
endWait

  Wait for 3 seconds until the following conditions are met.
    #genIn2=ON (Condition)
  If the conditions are not met within 3 seconds,
    Output ON signal to #genOut2,
    Stand by in place until a start instruction comes.
    Output OFF signal to #genOut2 when a start instructionis received.
  End of the line for commands if conditions are not met after 3 seconds.

Features II CARTESIAN Benchtop Robot