TC_ONLINE


TC_ONLINE

1. Overview

TC_ONLINE is similar to marker. The TC_ONLINE statement defines the expression and the expression is calculated as Background Logic. While the result of the expression is OFF, all TP and KAREL programs that have group motion are stopped.

By default, the TC_ONLINE function is disabled, the TC_ONLINE menu is not displayed and TC_ONLINE statement can not be taught in TP program. To use TC_ONLINE function, please set $MIX_LOGIC.$USE_TCOL to TRUE.

For Example:

TC_ONLINE (DI[1] AND DI[2])

After this line is executed, all TP programs are stopped while DI[1] or DI[2] is OFF.

* By default, TC_ONLINE DISABLE and TC_ONLINE ENABLE are not available. set $MIX_LOGOC.$USE_TCOLSIM to FALSE to use these instructions.

  • When TC_ONLINE (...) statement is executed, the specified expression is defined as a TC_ONLINE expression.

    While TC_ONLINE is enabled, the defined expression is calculated as Background Logic.

    If the result of the expression is OFF, all TP and KAREL programs except NOPAUSE are stopped.

  • If a program is started while TC_ONLINE expression is OFF, the program is paused immediately. All types of start are affected by TC_ONLINE except Shif+BWD.

  • Only when a program is executed by Shift+BWD, the program can be executed even though TC_ONLINE expression is OFF.

  • TC_ONLINE expression is calculated at every ITP (ITP is normally 8msec) even though the scanning time of Background Logic is longer than ITP.

  • Programs that do not have motion group or in which 'ignore pause' parameter is TRUE are not paused even if TC_ONLINE condition is OFF.

  • When $MIX_LOGIC.$USE_TCOLSIM is TRUE (default), TC_ONLINE DISABLE and TC_ONLINE ENABLE cannot be taught by Edit menu. The setting of ENABLE/DISABLE of TC_ONLINE should be changed in the TC_ONLINE menu. In this case, TC_ONLINE is enabled automatically when motion statement execution is completed. This means that TC_ONLINE is disabled only when the operator moves the robot temporarily.

  • When $MIX_LOGIC.$USE_TCOLSIM is FALSE, TC_ONLINE DISABLE and TC_ONLINE ENABLE can be taught by Edit menu. The setting of ENABLE/DISABLE of TC_ONLINE is not changed automatically when motion statement execution is completed.

TC_ONLINE is similar to marker. The TC_ONLINE statement defines the expression and the expression is calculated as Background Logic. While the result of the expression is OFF, all TP programs that have group motion are stopped.

By default, the TC_ONLINE function is disabled, the TC_ONLINE menu is not displayed and TC_ONLINE statement can not be taught in TP program. To use TC_ONLINE function, please set $MIX_LOGIC.$USE_TCOL to TRUE.

For Example:

TC_ONLINE (DI[1] AND DI[2])

After this line is executed, all TP programs are stopped while DI[1] or DI[2] is OFF. Refer to Table 1, " TC Online Instruction " .

Table 1.  TC Online Instruction

TC_ONLINE (...) Defines the specified Mixed Logic Instructions as a TC_ONLINE expression and enables the TC_ONLINE function.
TC_ONLINE DISABLE* Disable TC_ONLINE function. Any TP program is not stopped by TC_ONLINE when TC_ONLINE is disabled.
TC_ONLINE ENABLE* Enable TC_ONLINE function. This is used to enable TC_ONLINE that is disabled by TC_ONLINE Disable.

* By default, TC_ONLINE DISABLE and TC_ONLINE ENABLE are not available. set $MIX_LOGOC.$USE_TCOLSIM to FALSE to use these instructions.

  • When TC_ONLINE (...) statement is executed, the specified expression is defined as a TC_ONLINE expression.

    While TC_ONLINE is enabled, the defined expression is calculated as Background Logic.

    If the result of the expression is OFF, all TP and KAREL programs except NOPAUSE are stopped.

  • If a program is started while TC_ONLINE expression is OFF, the program is paused immediately. All types of start are affected by TC_ONLINE except Shif+BWD.

  • Only when a program is executed by Shift+BWD, the program can be executed even though TC_ONLINE expression is OFF.

  • TC_ONLINE expression is calculated at every ITP (ITP is normally 8msec) even though the scanning time of Background Logic is longer than ITP.

  • Programs that do not have motion group or in which 'ignore pause' parameter is TRUE are not paused even if TC_ONLINE condition is OFF.

  • When $MIX_LOGIC.$USE_TCOLSIM is TRUE (default), TC_ONLINE DISABLE and TC_ONLINE ENABLE cannot be taught by Edit menu. The setting of ENABLE/DISABLE of TC_ONLINE should be changed in the TC_ONLINE menu. In this case, TC_ONLINE is enabled automatically when motion statement execution is completed. This means that TC_ONLINE is disabled only when the operator moves the robot temporarily.

  • When $MIX_LOGIC.$USE_TCOLSIM is FALSE, TC_ONLINE DISABLE and TC_ONLINE ENABLE can be taught by Edit menu. The setting of ENABLE/DISABLE of TC_ONLINE is not changed automatically when motion statement execution is completed.