Hi,
I am having an issue with a robot re-tool I did over Christmas shutdown. We upgraded an old I-4 robot to a brand nice IRC-5. The program is the exact same with the exception there was the safemove code added. I am not sure if this was always an issue or not, because I was not the original programmer. The issue we are seeing is we put the station in auto and run it in auto then switch it to manual and recover. We switch the key switch from auto to manual on the HMI and the robot stops. They have two different ways of sending it home. The first method is they can hit the home button on the manaul HMI screen. The second option is the return to home button that is a push button on the bottom of the HMI enclosure. How all the other robots in the facility work is as soon as you let off the button using either method the robot should stop. However, it doesn't happen every time but pretty often is we are seeing that if you let off the button the robot will continue to move until it reaches home position. Safety is obviously not thrilled with this so I have attached the program to see if anyone has any ideas or suggestions. My thoughts are that DO53 isn't working correctly or since I am not using the gigotoword1 or 2 in the beginning of start main it is falling through? TIA
John