This is my first contact with the forum i find it very interesting and i was wondering if i can get some help.
I am currently pulled to a Fanuc robot project and i have some questions as this is the second time i am using Robots profesionally.
I am using a Siemens 1500 profinet connected to a R30b plus controller and a M710iC arm.
It is a palletizing application and i need to stop the robot in phase while the operator collects the pallet.
The robot has 2 picking points and 2 palletizing points. So collects from line 1 (pick point) - palletizes to line1 (place point), collects from line 2 (pick point), palletizes to line 2 (place point). I have made the subrutines but i am struggling with the main program. I ve desided to work with PNS.
1) Shall i use two (2) PNS and call them when the package is present in respective lines via PLC logic, or just one PNS and in there create conditions where the robot goes wherever in needed.
2)How can i stop the Robot in Phase so the program continues where it was stoped. If i stop cycle UOP will it remember the registers i am using for palletizing? Generally how does it stop (as a methodology for palletizing applications)?