Hey Gang - R30iA controller running V7.50 HandlingTool. Got a sporadic crash that occurs during an OffSet move, so on recovery (alarm ack and restart from PLC) the robot continues its move with the offset, resulting in repeated crashes.
I don't think I can replace the offset with defined moves, so I would like to run a 'GoHomeSafe' program on restart if collision detect was the reason for the pause. And I'm hoping for some help for the easiest way to do it.
I know I've got a DO set to alert the PLC of collision detect, so I could watch that and either set a flag or registry value in BG logic....but that feels really clunky to me.
There's got to be a slick way to do this I'm not thinking about, right?