I have a cell with 4 robots. 2 robots go home sooner than the other 2. If the cell faults out between these two events and the cycle is resumed the 2 that are at home come out and start the second cycle before the other 2 have completed the first cycle causing a crash. What are the I/O options or is there a command I can put at the end of the routines to tell the other robots not to start unless the others have been home?
Another manufacturer uses a PSUB WAIT command to prevent this, not sure if Fanuc has a similar command.