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PNP with Blackbox - Resume function?

Discussion in 'Other Builds' started by KasperD, May 8, 2019.

  1. KasperD

    KasperD New
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    Hi all.

    We have build a large PNP robot (2x2x2 meter (6x6x6 feet) to stack items into a box.
    Currently we are writing the gcode using the new blackbox as a controller.

    When the robot waits for an item to be placed at a specific location it needs to pause the gcode before picking it up and placing it on the correct location in the box.

    We have a sensor that shows when an item is placed for pickup but how do we pause the gcode and start again using the blackbox?

    We have tryed using the "Door" function. It works to pause the maschine but when "closing" the door we need to press resume. This needs to be automatic via the sensor.

    Any great ideas?

    I know that this is an unconvantional way of building a PNP robot but this just needs to perfom the exact same task at the exact same location forever :)
     
  2. Peter Van Der Walt

    Peter Van Der Walt OpenBuilds Team
    Staff Member Moderator Resident Builder Project Maker Builder

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    Checkout the Grbl Wiki and Source Documentation

    You can use the Door function: Close the switch to pause, open to resume. Your external controller/sensor (maybe with addition of an Arduino for example) can apply LOW/HIGH logic: See gnea/grbl

    As you describe it only triggering the HOLD, and not resuming, you might have not read the documentation here: to activate: OpenBuilds BlackBox 4X Documentation (Compile Grbl with ENABLE_SAFETY_DOOR_INPUT_PIN active)
     
  3. KasperD

    KasperD New
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    Thank you for the link Peter.
    Would there be any other way to engage feed hold and resume by external switches or sensors?
     
  4. Peter Van Der Walt

    Peter Van Der Walt OpenBuilds Team
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    The Grbl Source may have some other options, best to dig through there. We only broke out the DOOR pin, the others arent available, so you'll have to play with Grbl itself as this is not an anticipated use case :)
     
  5. sharmstr

    sharmstr Master
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    How are you sending the gcode to the BB?
     
  6. KasperD

    KasperD New
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    Currently we are using openbuilds Control to send the gcode.
     
  7. sharmstr

    sharmstr Master
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    If there's no way to do it in grbl, maybe you can utilize the keyboard shortcuts. I'm thinking connect your sensor to a teensy board (or similar) that's connected to the computer via usb. The teensy can send the appropriate run/pause keystroke (by default its the spacebar).
     
    Peter Van Der Walt likes this.

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