Hi! I'm programming a Robot that works with a cartesian exe. To avoid collisions I've thought that before the Robot start a movement that invades the cartesian exe it checks if the signal area free from axe is OK than wait 0.5 s and check againt that signal. The same evaluation is written into the exe's program. As soon as the robot starts it turns OFF the signal area free from robot to cartesian axe (see attached image).
Is this a good practice for these cases? What do you usually do with your programs?