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Fenceless Cert Cart laser curtain....

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Dan Compton

Hi all. I just received a new Cert Cart with the ER-4iA unit on it. It has a laser scanner underneath to interrupt and stop the robot if a student approaches it while in AUTO mode running a program. I have run into an issue whereas the demo programs from the factory run as they should and the robot stops if someone gets too close, but any new programs I create, fail to activate the safety zone. So any programs I create, continue to run at programmed speed, even if someone comes right up to the unit. This is a huge safety issue in a high school lab, and I need to figure it out ASAP. Any one have any ideas?

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    Mathieu Brodeur
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    Hi Dan !
    Interesting problem.
    When you run a program that you have created (not demo ones), does the robot stop when a person gets in the «red/stop» zone ?
    Is the problem only that the robot does not reduce its speed in the «yellow/slow» zone ?
    I don't think that a DCS safety function could affect only some specific TP programs...
    So let's find out the differences between the «demo» programs and the programs you create.
    In those demo programs, is the speed parameter on motion instructions «direct» or «indirect» ?
    Is the speed parameter value written in a register ?


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    Dan Compton
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    So I found out more with some digging. When you enable the DCS, there is a Cart speed check: zero set up to kill any motion of the robot in AUTO. Then, there is a KAREL program that has 4 "slots" for you to enter program names in for things that you want to be able to run in AUTO. So, if you write a program and then enter that name into one of the 4 "slots" in the KAREL program, the robot will run in auto and the laser curtain will pause/resume as people enter and exit the bubble. If you do not list the exact program name in the KAREL program, the robot will DCS error out whenever you cycle start and it starts to move. So essentially, you have to tell a monitoring program to allow the desired program to run in AUTO. This is such a giant pain in the rear-end. Each time a student wishes to run their program, I have to edit the KAREL program, delete one of the listed programs and then type in the new program we want to run. It's exhausting.

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    Mathieu Brodeur
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    Would it be possible to modify the KAREL to add a few "slots" ?
    What if you link those "slots" from the KAREL to String Registers ?
    So instead of modifying your KAREL to enter the correct program names in it, you modify String Registers ? 

    Just shooting some ideas.

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