Hello All,
I have a CR-15iA robot with R-30iB Plus controller need some help with condition monitoring.
What I want to do, is monitor the state of an DI, then send the PLC a fault code and pause the robot during a specific pick move. I currently use SKIP JUMP for this, but the instruction is too slow and we can't afford the hit to cycle time.
Anyway, I continue to get syntax error INTP-474 & INTP-202 when starting monitoring.
Calling Program:
>MONITOR CM_SCALEFORCE
>Move
>MONITOR END CM_SCALEFORCE
CM_SCALEFORCE Condition program (configured as condition type, no motion group (*,*,*,*,*,*,*,*))
>WHEN DI[76]=ON, Call SCALE_PAUSE
SCALE_PAUSE Program is configured as Macro type, no motion group (*,*,*,*,*,*,*,*)
>Set a register value
>Call a fault handshaking sequence with PLC
>PAUSE
Also, the condition program does not display on the status screen.
I'm clearly missing something, but am at a total loss. Any help is greatly appreciated. Thanks!