Background Logic, how does it work?

    Two parts to this really. First, what exactly is background logic and what commands or steps does it take to actually make use of it.

    Second, they want a light set up on each robot cell that is green when operating properly and red when there is an error in order to alert the robot techs to an issue. However, everytime the operator opens the door to the cell in order to change out parts for the next cycle it gives a gate open error and turns the light red which is a waste of time because nothing is wrong.

    Can background logic be used to filter out this error so the light doesnt trip when the door is opened? Is there another, better way to set this up?

    I dont want to set the robot to just ignore the door open signal for obvious safety reasons but we can't have false alarms every single time the door is opened during normal operation.

    Background logic is a program or programs constituting of a subset of non-motion TP commands. When enabled via the setup menu, the background program(s) run every 8ms, in a loop. You can't do calls in them, and all logic must be of mixed type (has parenthesis on the right side). Also, they cannot have a group assigned to them.

    The light program would be pretty simple, but you would need to assign an output to the fence safety in the interconnect menu and enable it (DO[4] in the example below.) in order for it to ignore someone opening the gate.

    Code
    DO[1:Green Light]=(UO[3:Prg Running]);
DO[2:Red Light]=(UO[6:Fault] AND !(DO[4:Fence]));

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