Hello,
In my projet, a Motoplus task communicates with a PC using tcpip.
A JBI program executes orders requested from Motoplus.
JBI program structure:
*LOOP
JUMP * LOOP IF B001=0 -- Wait for order from Motoplus
MOV P001 – Execute move order
SET B001 0 – Set End indicator
JUMP * LOOP – Back to loop
(Note : This structure is very very simplified. In reality, a circular buffer performs transfers).
Sometime, Motoplus needs to stop pending MOVE and go back to loop without terminate it.
In addition, if an error occurs during MOVE, we need to go back to loop without terminate it.
The solution I have found is to Stop and Restart the JBI program using mpHold() and mpStartJob() Motoplus functions. It’s working, but it is not possible to stop and restart the program if it is called by a main application (integration in a process).
So I look for another solution.
I have found solution for Kuka (interrupt/break/resume) and with Fanuc (move with skip condition) but not for Motoman.
Does anybody have some idea?
Thank you