I have two robots with intelligent interference check (IIC) installed and operational. I have an occasional problem where I will get an alarm (SSPC-225) on one of the robots that states "both robots are inside". This only happens when both are within seconds of accessing the common area at the same time. if they are further apart in timing, they each wait for the other to finish as they should. One robot is a Toploader (TL) and the other is a 6-axis pedestal on an RTU. I haven't setup any of the additional features that come with the IIC over the BIC like Deadlock Prevention (DP) or Waiting Condition Setup (WCS). I don't believe that DP is the answer since I have one, or sometimes both robots go into alarm. I think that WCS might be the answer but I am confused with the setup manual. I am hoping someone has familiarity with this and can shed some light on best practices.
More detail of cell: The TL robot accesses two transfer stands and will occupy about 3meter X 2meter envelope when servicing the stands and should not be interrupted once the process is started. The Pedestal robot on the RTU will enter the critical zone during several unrelated activities in addition to accessing the stands directly. We use a Cartesian zone as a fixture between the two robots in addition to the Robot+Hand models.
I am hoping to incorporate the Fixture Model we already have in the WCS or perhaps create a bigger zone to trigger a stop sooner.
If anyone has experience with this, I welcome the feedback.
Thanks!