Hi,
I have a program that I was using PR[2] as the last position before calling my reamer routine. Like clock work as the arm was swinging from the PR[2] point to the first point in the reamer routine I would get the following alarms:
SRVO-023 G:3 A:1 - G:3 is my other positioner that is not being used for at this point.
SRVO-053 G:1 A:1 - Robot arm
SRVO-021 G:2 A:1 - G:2 is the positioner the arm is just leaving to go to the reamer.
Due to the SRVO-023 and SRVO-021 alarms the arm stops and goes into alarm. I can clear it with the reset and cycle start and the robot continues on it merry way. At no other time in the whole 14 min cycle do these alarms come up even thou I move the positioners several times during the cycle.
My solution, I changed the instance of PR[2] to CALL HOME ZONE 2 (This program just sends the robot the a home position for positioner 2, it also happens to be the same point I programed PR[2] to.)
Now my program runs fine no alarms nothing. I understand I found a fix for this, but I was wondering if anyone out there knows how / why I had the issue with my original code?
Cheers,
Geoff