Hellow fellow robot devotees,
I have recently done a robot project with an IRB 6620 controlled by an IRC5 loading cutted pipes into a pallet. Sometimes acknowledge-required errors appears on the flexpendant, like when the robot has collided, when a position is out of reach or when the robot has performed a division by zero (yes, that would have been a programmers miss, but it can be seen as an example here).
The customer wants to be able to acknowledge these errors from the robot cell's main HMI screen instead of via the flexpendant and I'm not sure if I have found the right way of doing this.
Essentially I am using the system signals for controlling the robot from the HMI with signals for enabling the motors, starting the program with the program pointer at the beginning and so on and it works without any problems. When browsing through the manual "Technical reference manual - System parameters" I found all these signals in chapter 4.12 ("Type System Input"). Among these signals I find:
• System Output -> Execution Error
• System Output -> Production Execution Error
• System Input -> Reset Execution Error Signal
and I thought that these should be used for exactly the purpose that I wanted. Me and my PLC-programming colleague experimented with these signals but unfourtantly we got no grasp about how to use them. We didn't manage to reset arised errors with the signal "Reset Execution Error". I also tried to forward the arised error code by catching it and forward it to the PLC:
But this didn't work very well. The code received in the PLC didn't reflect the code of the arised error. I got in touch with the ABB-support about the problem but they didn't have any solution to provide. To sum my whole problem up I want to:
• Display occured runtime errors at the HMI by changing the value of an integer in the PLC
• Let the operator acknowledge the runtime error from the HMI and then be able to restart the program from the top
What would be the best practice for setting up this handshake between the IRC5 and the PLC?