Industrial robots are advanced machines that have transformed manufacturing processes. With their precise and efficient capabilities, they automate repetitive tasks, increasing productivity and ensuring consistent quality. These robots are adaptable and can be easily reprogrammed for different tasks, allowing manufacturers to quickly adapt to changing demands. Moreover, they enhance workplace safety by handling hazardous or physically demanding operations.
Raccoon houses the following robot cells:
Sometimes robots are requested to perform some actions until one or more conditions are met. This robot function is called interrupt and the conditions may be the change of state of signals. Other conditions can be the variation of analog or group signals or the occurrence of an error.
As an example, interrupts can be used to pick parts from a stack of unknown height. In this case, robot gripper has to be equipped with a sensor that reveals the presence of the piece (e.g. suctions cup with vacuum sensor, piston valve, etc.). The robot approaches the stack with a downward movement, until the sensor notifies the robot that the piece has been found. The robot stops the movement and performs the routine that follows the part searching phase.
Interrupts are usually linked to signals: when the linked signal is activated (or deactivated), robot stops its motion and executes a specific subroutine. The called subroutine can include normal instructions such as other movements, signal management and so on. At the end of the subroutine, robot continues with the main program.
The following sections describe how to manage interrupts with various robot brands:
The Marta Galvan (https://www.industrialrobotics.org/posts/trigger-type-instructions-explanation-for-different-robot-brands)
In many applications it is useful to call a routine, or set an output signal while robot is still executing a motion instruction.
Being able to anticipate another instruction before the end of the actual motion, indeed, can be used to reduce the time needed to communicate with external devices, and decrease the overall cycle time.