INTERLOCK SIGNALS BEST PRACTICE

    Hi! Since I'm new to programming I've seen some old programs from my ex coworker. He basically use interlock signals in different way. Let's suppose that the Robot wants to start a motion into another machine. Machine allow the Robot to get in and the Robot disable the machine from moving. I'm found two ways:


    PTP OverPrel_C1_DX Vel=100 %
    WAIT FOR I40_Mach_GetIn
    TRIGGER WHEN DISTANCE = 0 DELAY = 0 DO O68_Mach_dontMove=TRUE
    LIN Prel_C1_DX Vel=2 m/s


    or


    PTP OverPrel_C1_DX Vel=100 %
    att_dep1:
    IF I40_Mach_GetIn THEN
    ELSE
    GOTO att_dep1
    ENDIF
    PTP OverPrel_C1_DX Vel=100 %
    TRIGGER WHEN DISTANCE = 0 DELAY = 0 DO O68_Mach_dontMove=TRUE
    PTP OverPrel_C1_DX Vel=100 %
    LIN Prel_C1_DX Vel=2 m/s


    Is there any reason to trust one procedure from the other? What do you normally do to be safe and secure? You can trust this interlock signals?

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