Pausing Program in Auto Mode

    Hello everyone,

    I am trying to use the pause command to halt the robot in the middle of its program so that the operator can interact with the part. Once they are done, they can reset the robot and have it resume its path. I have tried inserting the pause command into the main program; the robot stops and will not start back up. There is a sub-program that is called in the main program with the pause command, and it behaves correctly. The robot will stop, the operator changes tools, they reset the robot and the robot begins running again. I don't know why it works in the sub program, and not in the main.

    Thanks

    Hi, I´m trying to perform the same task, but I´encontering a very strange problem.

    I´m Working with a Paint Robot, than use the Paint tool, so i´m not using the UOP because Paint tool use some build-in input to start and resume the JOB.

    My problem is:

    if the robot receive an HOLD command in the middle of a movement it can restart the program successfull and finish the Task.

    If the HOLD command come when the robot is waiting for something (wait instruction) It can not resume the Job proprerly.

    What is strange is that the robot stop correctly, and turn off "the JOB active output" and turn on the" wait for plc action output"and, in the first case (Hold during a movement) receive the "continue" input, it turn off the" wait for plc action output", turn on "JOB active output" and restart the job. in the second case it restart the job without turning off the " wait for plc action output" and when the Job is finisched it doesn´t turn off "JOB active output".

    Probably it depends from the Paint Tool nature that it´s a karel programs running in the controller.

    someone had the same problem?

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