I have a cell with 4 armate 100iC robots in it. The controllers are R30 iB.
One of the controllers (robot 1) has two groups, group 1 is the 6 axis robot, group 2 is two one axis positioners.
The other day the positioner crashed into the two of the robots, breaking the joint 4 gearbox on one of them.
Getting to the bottom of it may not be possible because I don't think I'll get the full story of what happened.
The way it's supposed to work is... the robots should all be at the perch position before the positioner can move, but that's not how it is.
I am brainstorming how I can prevent this from happening again. Is there a a way I can prevent the two axis in group two, the positioners, from moving, if all 4 robots are not at perch position.
I was thinking about holding robot 1(the one with two groups) if they are not at perch... but I can't do that because group 1 needs to execute its program while the others are not at perch...
Is there a way I can hold, or disable only group 2 on this robot?
Or... any other ideas?
Thanks