I have a 6 axis robot going to a PR in front of an inspection camera. The part could be at 0 degree or a 180 degree
IF DI 4 = on THEN
L PR 1000 mm fine, PR[2:offset 180] PR 0,0,0,0,0,180
While the robot was rotating somebody open the gate.
Ok, we closed the gate, fault reset AND seems to me that the robot started executing the line again (another 180 from where it was) and all the airlines got tangled and the robot stopped
I think that is the way Fanuc works. I wonder is there is a solution.
One could be telling the PLC that while we were executing that particular line there was a fault, then the PLC can load a -180 in the PR
Any ideas ?