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Can I skip a part of my programme if a Digital input changes state
/ Most recent by matthewd92
veryandy1 Posts: 7 Apprentice
Our UR 10 has a programme that controls 4 different welding Jigs. When a jig is loaded with a product it triggers a Digital input. If a Jig is not loaded and the input stays low, is there a command I can use so the programme can skip or jump further down the programme missing this Jig out. If so how can it be programmed ?
matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy@veryandy1 were you able to get your program running?
Mathew, I tried it today on my programme and I could not get it to work.
This is a programme I have found online, similar to ours, what I would want to input into the programme before the first Move J, basically if DI 0 is high continue the programme as normal, but if DI 0 is low go straight to "Pick sequence" and skip waypoint 1 + 13
How would the code look for this please, and where would it be inserted ?
further to my last image, this is the actual programme we run, Start 2 is connected to a proximity switch that goes high when a part is loaded. What I am trying to do is skip Jig 1 if no part is loaded and go straight to Jig 2.
I have made the "If" statement 4th line down, " If start 2 is False " but do not know what to put into the next line if the criteria is met, to skip straight to Jig 2 in the programme.
What function or what to input to make it happen ?
Anybody able to help ?
The next step in the programme is to set a counter so after every 50 or so cycles the programme then moves the TCP to a point where the welding nozzle can be cleaned and a pop up appears on the screen to execute then restarts the programme and re sets the counter. I dont suppose you can give me any pointers on this please ?