Setting boolean value after reboot

    So first i have to apologize because i know that what i am asking has been talked about before some years ago, but i cant seem to be able to find that topic again.

    Robot: KR150L180
    Control: VKRC2 running standard krc software kss4.97

    So simply put i need to set 6 boolean variables in the sps after a reboot (but not a cold boot, although it probably could not hurt).

    The variables are declared in the config.dat file:

    Code
    BOOL Tafel_1_blok
BOOL Tafel_2_blok
BOOL Tafel_3_blok
BOOL Tafel_4_blok
BOOL Tafel_5_blok
BOOL tafel_6_blok

    And in the sps i reset them based on a input.

    Code
        IF NOT Tafel_1 THEN ;Tafel_1 is an input also declared in the config.dat
      Tafel_1_blok = FALSE
    ENDIF
    ;the rest of the variables 2 throug 6 are the same so to keep it short i will leave them out.

    The reason why i have to set them is that during a reboot the inputs are seen as low when they are not, and so my variables get reset when they are not supposed to.

    For some more background information:

    These variables i use to block a table (i have 6 tables with different product around the robot) from being used. The input is connected to a limit switch on the table and detects if a product is present. So in my main program i can set the block variable to high after the robot is done milling this product, and when the product is removed the table becomes available again when a new product is put in.

    So what happens is that in the morning after a reboot if there where still product inside they get milled twice and that doesn't always go well. I have to mention that the simple solution would be to not leave any product is the robot in the evening or take everything out in the morning, but people can be idiots and a robot always does what he is told. So i would put my money on the robot :grinning_squinting_face:.

    The inputs are connected through a device net module from Phoenix contact (ILB DN 24 DI16 DO16). i suspect my problems might have something to do with when the device net connection is made, but i am not sure.

    Every problem has a solution, that isn't the problem. The problem is the solution.

    what sets the variables? they are declared but not initialized so they are not retentive.

    also why manipulate flags if you have inputs to do interlocks?

    and why manipulate anything during boot? why not let the boot and initialization complete and then allow any action to take place...?

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Variables are set in the main program after the program that is assigned to that table is finished. It is not that i want to manipulate anything during boot, that is what is happening now (or it happens during shutdown but that is hard to tell). after boot and initialization my flags are low, when the should still be high. The input never went low.

    If i can detect a reboot, then my problem is solved. because then i can set flags high for the inputs that are still high.

    Every problem has a solution, that isn't the problem. The problem is the solution.

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