answerEPKRCVX(R)en.docVIP

 TOC \o 1-3 \h \z \u  HYPERLINK \l _ToExercise: Workspace monitoring  PAGEREF _To\h 2  HYPERLINK \l _ToExercise: USER MESSAGE  PAGEREF _To\h 3  HYPERLINK \l _ToExercise: Interrupt handling - Declaration  PAGEREF _To\h 8  HYPERLINK \l _ToExercise: Interrupt handling – Canceling a motion  PAGEREF _To\h 11  HYPERLINK \l _ToExercise: Project task - Return motion strategy  PAGEREF _To\h 14  HYPERLINK \l _ToExercise: Control with analog I/Os  PAGEREF _To\h 16  Exercise: Workspace monitoring101 What you should now know: What is the maximum number of workspaces that can be configured? 8 Cartesian and 8 axis-specific workspaces What MODE options are available during workspace configuration? #OFF– Monitoring switched off # INSIDE – Output set inside #OUTSIDE – Output set outside #INSIDE_STOP – Output set inside + stop robot #OUTSIDE_STOP – Output set outside + stop robot Which coordinate system does the ORIGIN refer to in Cartesian workspace configuration? World coordinate system What are the advantages of a robot interlock implemented using direct I/O coupling and monitoring time? Short communication time No PLC programmer required What are the disadvantages in the above case (Question 4) when working without a monitoring time? If two robots request permission to enter the workspace simultaneously, this results in a CRASH Large number of communication lines (I/O communication required between PLC and robots, and between all robots working in the shared workspace) Exercise: USER MESSAGE102 Task: Subtask 1: Notification message DEF message_exercise1( ) decl msg_t empty_msg empty_msg = {msg_t: valid false, release false, typ #notify, modul[] , key[] , param_typ #value, param[] , dlg_format[] , answer 0} ;Notification $msg_t = empty_msg ; INITIALIZATION MSG $msg_t.modul[] = USER ; Originator of message $msg_t.key[] =