backendcode
Member
Hello All,
I would like to know how do you guys write a program to do auto recovery at the cell.
Currently, at my workplace, we use ABB robots and most of the cell have auto recovery features. we define a variable call "Current_Task" in every routine and assign a number to that variable.
For example, assign 10 to variable "current_task" if picking up the part from infeed and clear current_task once out of that routine, assign 20 if servicing Machine, Assign 30 if dropping the part at outfeed conveyor and we also define world zone in the program to know the position of our robots as well.
Once robot crash, we check the current task and depending on the current task, jump to recovery routine of that task and just hit play and robot will come out and move to home position.
But the problem with such kind of auto recovery method is, let's say if robot crash inside the machine (motion supervision) and someone tried to recover the robot manually by jogging and made it halfway but he realized oh I have recovery routine and then tried to auto recover, robot will go back to where it was crashed and recover from there which could possibly cause another crash.
I am really interested in some innovative idea to do automatic recovery by itself without the help of anyone.
For example, we can find the position of each axis of the robot by getting the value from a resolver and we already know the dimensions of each machine and objects in the cell and we do have safe move on each cell in robot work area. once robot get motion supervision in the cell, find the position of each axis of the robot and then know where the robot is right now and recover automatically and alarm up the machine, and robot continue running and servicing other machines and won't go in that machine until someone clear the fault because robot might drop the part during auto recovery.
What do you guys think of it? is it possible to do that or just curious to know what kind of auto recovery are you guys currently using in the workplace and would love to learn from you.
Thank you for the great ideas and knowledge in advance.
Thank you,
I would like to know how do you guys write a program to do auto recovery at the cell.
Currently, at my workplace, we use ABB robots and most of the cell have auto recovery features. we define a variable call "Current_Task" in every routine and assign a number to that variable.
For example, assign 10 to variable "current_task" if picking up the part from infeed and clear current_task once out of that routine, assign 20 if servicing Machine, Assign 30 if dropping the part at outfeed conveyor and we also define world zone in the program to know the position of our robots as well.
Once robot crash, we check the current task and depending on the current task, jump to recovery routine of that task and just hit play and robot will come out and move to home position.
But the problem with such kind of auto recovery method is, let's say if robot crash inside the machine (motion supervision) and someone tried to recover the robot manually by jogging and made it halfway but he realized oh I have recovery routine and then tried to auto recover, robot will go back to where it was crashed and recover from there which could possibly cause another crash.
I am really interested in some innovative idea to do automatic recovery by itself without the help of anyone.
For example, we can find the position of each axis of the robot by getting the value from a resolver and we already know the dimensions of each machine and objects in the cell and we do have safe move on each cell in robot work area. once robot get motion supervision in the cell, find the position of each axis of the robot and then know where the robot is right now and recover automatically and alarm up the machine, and robot continue running and servicing other machines and won't go in that machine until someone clear the fault because robot might drop the part during auto recovery.
What do you guys think of it? is it possible to do that or just curious to know what kind of auto recovery are you guys currently using in the workplace and would love to learn from you.
Thank you for the great ideas and knowledge in advance.
Thank you,