Hi Guys, I'm hoping someone can help out here but there may well be multiple ways of doing this?
I have a Main Program ('Main'), which calls a couple of Sub Programs ('INIT' and 'Park') and a Main Call Program ('Production'). During idle time the robot will sit in a Parked position in the middle of the 'Park' program. To do this it has to move down vertically to sit inside a holding fixture. If the 'Park' program is continued the tool will move up vertically and carry on ok. However, if the 'Park' program is cancelled and not restarted on the correct line then the robot can move to its Home Position which would cause a crash.
It has been suggested I could add some lines to the sps.sub file:
;Robot must be in home position before starting in auto
IF $AUT OR $EXT THEN
$ov_pro=100
ENDIF
But this doesn't appear to do anything but set the overall velocity??
is greatly appreciated