Ok I'm having a weird issue with one of my robots. We are building a cell for a customer that is laying glue paths and then gluing parts onto a headliner. Two robots laying the glue (M-20iA robots with R-30iB plus controllers communicating with a L30ER compact logic Allen Bradley PLC) with one controlling a table on 2 aux axis (1 for rotation and one for travel).
When the robots finish their glue paths they return home to get out of the way and the table moves in to glue the parts down. But as soon as the cylinders on the table receive the signal to extend it aborts robot 2's program. It's not supposed to yet. The only reason we need the program to continue running is because there is a signal sent from both robots individually after the glue path is complete so the plc knows the headliner is ready. We need this output to stay on through the whole sequence but to be off to start the next sequence. At the end of both robot programs they run a DO OFF program to turn off any unnecessary outputs but we need them to both wait until the table has returned to its home position before running this program.
Now someone else is programming the plc side of it because I don't know much about plc programming yet. But he is saying that his program is not telling it to abort. In fact the code for both robots both at this point in the program and under the conditions for UI(4) cycle stop are exactly the same so if it aborts one program it should abort both.
My questions are has anyone had this or a similar situation happen before? And is there another way we could be unintentionally aborting the program in robot 2 without sending the cycle stop signal or dropping UI (1), UI(3) or UI(8)?
