Hello,
I am fairly new to Yaskawa robots and i am currently working on a robot cell with 4 Yaskawa robots. We are doing many hand shakes between the PLC and robot where i have to wait for a certain DI. This becomes a problem when i get a access request from the PLC for unlocking the doors for entrance. If i can use ladder logics like (Running=FALSE OR (Running=TRUE AND WAITING=TRUE)) could send "Access Granted" to the PLC.
An output that says that the manipulator isn't moving could also work.
Hope that i presented this problem clearly enough. Thanks in advance!