Hi guys,
So I have a bit of a problem.. I'm working with a Fanuc M-20i / R-30iB+ connected to a Siemens S7-1500 PLC, the profinet GSDML file used doesn't automatically link the IO in such a way that the robot is always outputting it's position back to the PLC.
I have a program called WRITEPOSITION in which when called updates a Group Output with all it's positions and I can see the change on the PLC side no problem. The issue is I'd like this to run 24/7 and be able to move the robot during this time, but it seems like I can't do that because the motion group used to push the data back over the GO is also the same as the motion group used to actually move.
I'm tried messing around with the motion group masks, setting up a BD task, and running it with the RUN command but obviously this won't work, what's the alternative, do I need an option or is there just a different way to setup a task that always outputs the robot position.
Thanks,
Mike