Hi, we have a plasma torch attached to a Fanuc Robot by a magnet and we've installed a switch that detect if the torch hit something and detach from the robot and I would like to make the program come to a "HOLD" so the operator can go put it back on and press "CYCLE START" to restart where it was...
The Switch is hooked on a DI and I made a BGLOGIC program that detect if the DI is on or off and it turn the Variable $MCR_GRP[1].$hold to "True" I also tried the $hard_hold and it does stop the robot but the "HOLD" indicator on the TP never change and I cannot restart with the Cycle start button... If I press the HOLD it give me an error about a HOLD signal lost in the UOP/SOP and THEN I can press cycle start....
Any Ideas what I'm doing wrong?
1: IF (F[5:TORCH CHECK] AND !DI[10:DETECT TORCH] AND !F[1011]),$MCR_GRP[1].$HOLD=(ON) ;
2: ;
3: IF (F[5:TORCH CHECK] AND !DI[10:DETECT TORCH] AND !F[1011]),$MCR_GRP[1].$HARD_HOLD=(ON) ;
4: ;
5: IF (F[5:TORCH CHECK] AND !DI[10:DETECT TORCH] AND !F[1011]),F[3:BLINKING RED]=(ON) ;
6: ;
7: IF (F[5:TORCH CHECK] AND !DI[10:DETECT TORCH] AND !F[1011]),F[1011]=(ON) ;
8: ;
9: ;
10: ;
11: ;
12: ;
13: ;
14: IF (F[5:TORCH CHECK] AND DI[10:DETECT TORCH] AND F[1011]),F[3:BLINKING RED]=(OFF) ;
15: ;
16: IF (F[5:TORCH CHECK] AND DI[10:DETECT TORCH] AND F[1011]),F[1011]=(OFF) ;
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Thank you in advance