I would like to know what's the best way to turn off the gun signal for the robot when an alarm occurs in the controller???. We recently started working with this robot in our paint line but and the company who did the integration left the controller working in local mode not any communication between the Paint Line PLC and Robot controller. The main problem happens when somebody accidentally open the door on the booth the robot stops fine but the gun keeps shooting paint so the parts located in the line after the fault would be scrap if we don't turn off the gun quickly. I was trying to stop the conveyor with a relay which a hooked up to a Digital Output 5 (Major Fault) and is doing fine but as soon as I switched the controller to manual mode in order to move the robot to Home position and the output starts on again...... they are using the digital output 6 to turn the pilot for the gun. What I would like to do is every time the robot sees a fault condition would turn off this output and would not start until we run the program again.... The controller is a Rj3ib.....
The problem also happens if somebody speed up the line conveyor so the robot is unable to paint the part in the specified windows and the fault came up in the controller, but the gun keeps shooting paint.....
Any suggestion would be appreciated!!!!.....