Hello Valerio.
Thank you for getting back to me.
The scope of my question is strictly about how to manage, with guarantees and best practices, the communication between the PLC and the ROBOT. However, the topic you mentioned is also of interest, and I think it is very relevant for us to have a discussion covering that subject as well.
I will create this secondary post with the title you suggested. But I ask that you keep this one open so we can address the best practices for this communication.
As I mentioned in my original question, I’d like to know the best way to manage this. I’ll give an example: I have a station where I always need to check whether there is a container available to receive a product. The positioning is managed by a mechanical transport system with a servo motor controlled by mapp Motion using a CAM curve. So, I pick up the product with the delta robot, and on the way to the drop-off position I need to check whether there are available containers, and among the available ones, which container I can place the product into.
It’s clear that I could use a WaitALAP to make the interpreter wait until the last possible moment to check, or use WaitUntilSync to wait for the signal. I’ve tested this and it works—the issue is that this causes the motion to end, or in other words, the interpreter briefly pauses while waiting for the condition. However, I would like the condition to be evaluated during the motion so that, if it is OK, I can blend the motion into the next one.
If I declare, in the PROGRAM feature under program elements, the PVs as Path-Synchronous, will the information from these variables be synchronized during the motion? Or should I use DO_PATH_SYNC and place the logic and the motions inside it?
Thank you.
Here is the new topic: https://community.br-automation.com/t/best-practices-to-avoid-collision-between-2-delta-robots/