This may be a stupid question, but I've been banging my head against the wall all morning. Is it possible to shut off digital outputs when a fault occurs?
Here is the situation: we have a robot spraying a fluid. The fluid spray is controlled by an external controller and starts spraying based on receiving an output from the robot controller. When a fault occurs (estop, fence, etc) the robot stops like it should and the program is paused, but the output stays on- so the unit continues to spray while faulted. I set up CSTOPI and aborted the program by the fault output (UO6 I believe) but that didn't kill the output. I have created a monitor program calls another program when the fault output is on to turn off the DO- but that program pauses on the first step because of the fault. So the output stays on and the unit continues to spray until the fault is reset and the cycle start is pressed.
Is it possible to kill the output when the job stops running/is paused purely by software?