How to get back to Main

    So I am working on a recent issue and was curious if there is a way to get out of a program and back to the Main via the PLC? This is on a Fanuc ArcMate 120 iBe that has been converted to Handling Tool.

    Here's an example:

    Main

    If DI 1=On Call ProgA

    If DI 2=On Call ProgB

    If DI3=On Call ProgC

    If DI4=On Call Home

    So if I am inside of ProgB and the robot faults, so I am still inside of ProgB. Is there anything I can do to force the robot to leave ProgB and return to Main? Ideally I would need to do this as a command from a PLC, but I don't know is if this is even possible??? Thanks

    Yes, you need to use the UOP signals. The cstopi signal can be configured as abort in the system config menu. Then prod start signal can start your main from the top.

    Typically you set your main as the program to start in the prog select menu by setting method as "other" then selecting main in the detail screen. Then you set start method as UOP. Finally ensure that uop is enabled in the system config menu.

    Is your plc currently starting the robot?

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