Hello everyone, currently I am using a micro850 controller along with a FOTEK PL-05P proximity sensor and a 3DOF serial arm robot. I am utilizing the MC_MoveRelative function to command the movement of the three axes of the arm robot. In my ladder logic program, when I link the sensor to the MC_MoveRelative function blocks, all three axes are able to move the desired distance. However, I have encountered an issue with one of the axes, specifically the lowest level of the arm robot, which is unable to move in the negative direction but can move in the positive direction. Surprisingly, this axis is able to move in the negative direction when the sensor is not connected to its MC_MoveRelative function block. Despite checking all wiring connections and the program itself, I have been unable to identify any anomalies. I have attempted various solutions to rectify this issue but have been unsuccessful. Can anyone provide insight into what may be causing this problem?
Hello everyone, I am currently working on a project involving a Micro850 PLC, a FOTEK PL-05P proximity sensor, and a 3DOF serial arm robot. I am using the MC_MoveRelative function to control the movement of the arm robot on all three axes. However, I have encountered an issue where one of the axes, specifically the lowest level of the arm robot, is unable to move in the negative direction when the sensor is connected to the MC_MoveRelative function block. Strangely, when the sensor is disconnected, the axis is able to move in both positive and negative directions as intended. I have double-checked all wiring connections and the ladder program, but everything seems to be in order. Despite trying various troubleshooting methods, the issue persists. Any insights on what may be causing this problem would be greatly appreciated. Please note that the sensor is labeled as _IO_EM_DI_00 and the electromagnet, labeled as _IO_EM_DO_09, is functioning correctly without any issues.
It sounds like an interesting issue you've got there. One possibility might be that for this particular axis, the sensor signal is somehow interfering with the command to move in the negative direction. You might want to check if the sensor is functioning correctly when giving the negative direction command. Also, try to put a delay in your program between the sensor being triggered and MC_MoveRelative function initiated. This is just a hunch though, as I'd assume your setup would handle sensor and control instructions simultaneously. You could also test the arm in a controlled condition, with manual input of data to rule out any coding or timing issues. Do keep us posted on your troubleshooting progress.
This is a peculiar issue, indeed. I have a few initial thoughts. It's clear to me that the sensor might be triggering the MC_MoveRelative function incorrectly for this particular axis or overriding the function somehow. Perhaps the sensor is reading a false positive, thinking that the axis is always at its lowest point. If you have another FOTEK PL-05P on hand, try swapping it in to potentially isolate the issue. Also, verify if you have correctly configured the sensor parameters. For instance, adjusting the delay time or sensing distance might help. Finally, testing another axis with this same sensor could reveal whether the issue is with the sensor or the particular axis of the robot.
Hello, it sounds like you've covered many of the bases already. One thing that might be causing the issue is the settings for the proximity sensor itself. The PL-05P can sometimes face challenges in distinguishing between objects that are close together, especially at lower levels. It could be that when you're trying to move in a negative direction, the sensor is reading the arm as being closer than it actually is, causing the movement to halt. Another possibility could be the configuration of your MC_MoveRelative function blocks. Ensure that the "negative limit" parameter is correctly set for the affected axis. Sometimes, discrepancies can occur between different axes depending on how they were set up. Remember to re-calibrate your equipment after making configurations changes. Best of luck!
It sounds like an intriguing issue. My initial thought is that there may be a problem with the integration of the proximity sensor and the movement logic for your arm robot's lowest axis. Check if the sensor might be returning an unexpected value or condition that's causing the MC_MoveRelative function block to limit or obstruct the negative movements. There could also be a need to fine-tune your sensor's sensitivity levels for proper alignment with the motion commands. Consider testing the functionality with a different sensor if available. Also, ensure that your micro850 controller's firmware is up-to-date which can sometimes help resolve such anomalies.
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Answer: 1. Why is the lowest level of the arm robot unable to move in the negative direction but can move in the positive direction when the sensor is connected to the MC_MoveRelative function block? - This issue may be caused by interference from the sensor input affecting the movement control of that particular axis.
Answer: - One possible solution could be to isolate the sensor input from the MC_MoveRelative function block to see if that resolves the issue. Additionally, checking for any conflicting logic or programming errors related to that specific axis may also help identify the root cause.
Answer: - You can try testing the axis movement without the sensor connected to see if it behaves differently. It may also be beneficial to review the ladder logic program for any conflicting instructions or conditions that could be impacting the axis movement.
Answer: - It is recommended to review the configuration settings for the axis in question, such as velocity limits, acceleration/deceleration parameters, or any safety limits that could be affecting the movement in the negative direction. Adjusting these settings accordingly may help resolve the issue.
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