Hello,
I have 2 IRB2400 robots with S4C controllers. One robot is the master that drives the positioner and the second one is a slave one that sends a feedback that states it is at home position and it is safe to rotate the positioner.
I want to get a digital feedback when the robot is at home (to inform the master robot). At the moment I SET an output after the robot goes to a point that I have named as "HOME".
I have 2 questions:
1- Is there a "home" protocol that I can use to get reliable feedback?
2- I set the output after reaching home and reset it before any motion command. By a very simple operator mistake, that signal can remain SET and the positioner can collide with the slave robot. Can someone suggest a convenient way to overcome that risk?
I don't want the positioner to crash into the robot with incorrect signalling