What i want to achieve..
Operator pushes button
Robot finishes actual work cycle then goes to a predefined position.
Robot unlocks door
The problem is this:
If the robot already have stopped or no program is started how do I detect all those conditions..?
$STOPMESS seems like a good fit to see if robot has stopped?
$APPL_RUN seems like a good fit for detecting if a program is activated?
$PRO_MOVE and/or $ROB_STOPPED seems like good variables for detecting robot standstill.. But can these trigger if the program is active and just waiting for a input to keep moving?
The code for this will be in the SPS. And a interrupt in the motion program that i switch on and off depending on where i am in the sequence.
Does this seem like a good soulution or do you recommend anything else please advise.