Hello,
I'm realizing project on Yaskawa DX-200, remotely controlled by PLC (job selection).
I want to block possibility of restarting program run in remote mode, if the robot was driven out of its programmed path f.e. by operator.
How can I determine if the robot is on path or not?
I was supposing that such a situation is passed in signal 50400 (Sequence Continuing), below copied description from concurent io manual for Yaskawa.
QuoteDisplay MoreThese signals indicate that robot operation is in executing state in the sequence
of instruction as taught. These signals go ON when the initial job
is executed after the power is turned ON.
The same conditions as above are applied to the FWD and TEST operations
on the programming pendant.
These signals go OFF in the following cases.
When the cursor is moved by the operation such as change of the line No.
with the programming pendant at the robot stop.
When a different job is called up.
When edit operation (insertion, modification, deletion) is executed from
the programming pendant.
For a system with one robot, use signal No. 50400
However even if I manually jog a robot out of path, this signal still remains on.
I will be glad receiving suggestions from you