Hi,
I have a problem with an old Kawasaki C Controller (UD-150 robot). My program is based on a huge WHILE loop. It's a handling application, with a vacuum gripper and there is a risk of dropping the workpiece from time to time. If it happens so, the operator enters the robot cell, causing the safety system to switch the robot's motor power off (and that results in an error of course).
Sometimes after resetting the error and resuming, the program falls out of the loop and starts from step 1 - which may cause some serious collisions. This happens only from time to time.
Has anyone encoutered such a problem? Is there any way to avoid it? Any system setting which will prevent exiting the loop too early? What comes to my mind is deactivation of "motor power off" state as an error, but that's the last thing I'd like to do.