Could i get a professional opinon on the Robot code to stop the robot if DI:64 part present is not on & Halt before the saw cuts.
This is what i have so far & have not implemented the code yet.
Code
WAIT SEC 0
IF(NOT $IN[64]) THEN
LOOP
HALT
ENDLOOP
ENDI trigger when distance = 0 delay = 0 do plcoROBOT_NOT_CLEAR = FALSE
;FOLD PTP REGRIP_LOC CONT Vel=100 % PDAT5 Tool[2]:WithPart Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:REGRIP_LOC, 3:C_DIS, 5:100, 7:PDAT5
$BWDSTART=FALSE
PDAT_ACT=PPDAT5
FDAT_ACT=FREGRIP_LOC
BAS(#PTP_PARAMS,100)
PTP XREGRIP_LOC C_DIS
;ENDFOLD
ENDIF
;FOLD WAIT Time=0 sec;%{PE}%R 8.3.44,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 3:0
WAIT SEC 0
;ENDFOLD
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Open to opinions or different options
Thank You,
SRT
Automation Technician