IRC5 controller
Part of my home routine is check if Safety_SyncWarn is off. If not, move robot to sync switch
IF (DOutput(Safety_SyncWarn)=1) OR (nLastSyncDay<>nThisDay) mSync;
where part of nSync routine:
MoveAbsJ sync, v300, fine, tool_12Cell;
WaitTime \InPos, 1;
WaitUntil \InPos, DOutput(Safety_SyncSwitch)=1 ,\MaxTime:=5, \TimeFlag:=bTimeOut;
! Check Switch
IF NOT bTimeOut nLastSyncDay:=nThisDay;
I assume, when safety controller detects signal from Safety_SyncSwitch then Safety_SyncWarn output should be off.
On robot IO page I see Safety_SyncSwitch comes to 1 when robot tooling presses the switch but Safety_SyncWarn is still ON.
Where is the place to verify what is going on?
Thanks