I have 3 MGUs in my positioner. E1 is used to rotate a large vertical wall (6' wide x 4' tall). E2 is on one side of this wall and is used to rotate the tooling/parts on this side. E3 is on the other side of the wall also used to rotate tooling/parts on that side of the wall.
The challenge is that the tooling (E2 and E3) needs to be in a certain position (location) so that when E1 rotates the vertical wall, there are no collisions between the moving tooling and the walls used to enclose the cell. Said another way, if the customer uses the pendant to jog E2 or E3 manually and then attempts to spin the wall using E1, a collision is likely to occur (unless E2 and E3 are left in the correct positions).
My question:
Is there a way to prevent E1 from moving if E2 and E3 are in the incorrect position while manually jogging the robot using the pendant?