I am currently in the process of setting up 2 new P50iB fanucs. we have an access door in the booth to change air caps. by MIOSHA law we are required to have a safety switch at the door so when opened all movement in the booth is haulted. Our plc panel will only controll the robot when the robot is in the home position and in production mode. opening the door will fault the robot and makes the use of a wait command useless. also there is no way to send the robot back to the home position after opening the access door without having to pick up the TP and send it home manually.
Is there some sort of command I can write in that while bypass the safety feature of the door as long as the robot is stationary in the cap change position? or is there some way to continue to send the "@home" signal to the PLC while at the cap change position. I'm trying to avoid picking up the TP and creating more downtime and work than what is needed. I would like to be able to hit "cap change" swap it out and hit "return home" when I am finished. or create a process so when I initiate the "cap change" command through the plc it will bypass the safety feature while in the cap change position so i can open the door and a timer carries it home, or it does not return home until I close the door.