As the nature of our business dictates, our operators are naturally very hands on with our robots. I'm trying to develop a safety system in which the robot double checks its position against a pre-set PR to make sure its at the correct point before it continues. How would I go about doing this? Can I set individual I/O's to 'on' when the robot is at these positions? Or is there a different method. s420's and R-2000iA's and B's. RJ2, R-30iA controllers.
Also, how customizable are I/O's in terms of being able to programmatically change them as conditions are met?