Program Sequence Wait

[ScreaminSteve]

Good morning All;

I work on a line with a number of Motoman NX100 robots. We have times where the robots will stop and a warning comes up saying, 'program sequence wait'. Can anyone give me some detail as to what might be causing this problem.

Thanks

[Fabian Munoz]

ScreaminSteve:

Welcome to the robot-forum



I've seen that message when running two jbis at the same time. the up front program and the concurrent job  (CJ) program.

If something holds the CJ you get that message.

Check your upfront program, find if you have the command PSTART xxxx.  xxxx is your CJ program. If you cannot find it, save the progs and using and word editor, look in the header , I dont recall exactly where but in the lines marked //  you will see one that contains CJ, that's your baby.

Now, to troubleshoot the problem you are going to have to run those programs step by step and figure where there's a chance that the CJ could be waiting therefore holding the up front prog.

BTW it could be another reason for the message, this is one is the one I know

[tony gast]

i believe that you can also get this using cubes 1 and 2......
they are for shared space between robots and or other moving devices.....
when this happens check the status of 20020 and 20021.....if on robots will not enter these cubes 1 or 2 until they go off

[ericm115]

I got this the other day. Open your graphical ladder editor, search for 40090. When you find the 40090 coil, press the button called "Monitor" to view the status of all the bits on the screen. You will be able to tell which bit(s) is causing 40090 to turn on. It could be 70022 or some other. Then, look it up in the CIO manual or continue to trace down what is turning THAT one on, for instance, I found that 70022 was being triggered by an EthernetIP bit... the PLC was sending a signal to wait over ethernet because a prox switch in the cell wasn't quite made that had to be for robot operation.