Hi everyone, i need help with stop in cycle.
I have a KRC4, and i would like to create global variable which stops robot on every PTP or LIN move, when i push the button stop in cycle on PLC. The signal is $IN[21] for robot, and robot send signal $OUT[21] back to PLC that stopped. This button is on safety doors. Well i push the button stop in cycle on door, i must wait to robot as stop on point in program and then can i go to workspace. I would like to need this simply and global for 700 lines program.
The functionality must be same as BCO-when i go to in T1 or T2 step mode.
Thanks Adrian