Hey guys having a small issue, I'm wondering if anybody has seen this before.
I have a group SIGNAL variable set up:
This is the job number reflected back to the PLC. The issue I am having is that while running the fifth job (ie. GO_JOB_ACK = 5) I am having DO34 (binary value 4) bit shut off randomly while the robot is running. This is causing all kinds of issues obviously.
I have checked all programs not only in the fifth job but controller wide. I have also checked all my SPS code and there is nothing in there that could be resetting bit 34 by itself (No other bit is getting reset).
This is my SPS code because I know somebody will ask for it:
;*****************************************
;########### CLEAR IO #################
;*****************************************
DO16_LIFE_BIT = DI16_LIFE_BIT ;LIFE BIT
IF ($MODE_OP == #EX) AND ($IN[7] == TRUE) THEN
CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")
ENDIF
IF (DI12_CLEAR_IO == TRUE) OR (CLEAR_REGISTERS == TRUE) THEN
FOR j=21 to 95
IF (j < 80) OR (j > 89) THEN
$OUT[j]=FALSE
ENDIF
ENDFOR
CLEAR_REGISTERS = FALSE
ACTIVETARGET = 0
IF ((($IN_HOME EXOR $IN_HOME1) EXOR $IN_HOME2) EXOR $IN_HOME3) THEN
DO39_ENABLE_UNLOAD = TRUE
DO44_ENABLE_LOADED = TRUE
DO61_CLEAR_OF_ZONE_1 = TRUE
DO62_CLEAR_OF_ZONE_2 = TRUE
ENDIF
PULSE(DO18_REGISTERS_CLEARED, TRUE, 1.0)
ENDIF
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I know this code isn't being triggered because 1) not seeing DO18 pulse 2) no other output besides #34 is being shut off.
I have also gone so far as to run agent ransack searching for variations of 34 (do34, out[34], 34, etc) and also "go_job_ack" and have found them referenced nowhere other than in the respective programs where they should be.
I have also tried turning this bit (out34) on manually in teach, then putting the robot back to EXT and starting it, only to have the bit reset itself again once the program is running.
The IO is set up through DNET slave device but since this is an output I don't think any settings there would have an effect.
If anyone has any ideas please let me know, my last option is to call KUKA.
BTW This is an 8.3.8 using WOV3.0.9. I'm working on an 8 robot machine and this is only occuring on one robot.
Thanks in advance3