I have a situation with a 3-MGU positioner where E1 should only be moved if E2 and E3 are in the correct spot.
I have a sub-program that looks at the position of E2 and E3 prior to moving E1 and if E2 or E3 are not in the right spot, a MsgQuit command is run forcing acknowledgment from the SmartPad. This will probably suffice for now but it got me thinking. Has anyone every wired a doubled poled relay in-line with the E-Stop circuit (X11) and used the same software that checks the position of E2 and E3 to switch the relay thereby triggering an E-Stop?
I was also looking for a KRL command to do the same sort of thing. What I found was ROB_STOP () to be used in the SPS but have not tried it yet.
I imagine SafeOperation could solve this problem for me but I do not have that software on this robot.
