Hey Guys,
I am having an issue with my Robot picking up a mini part from a conveyor system. I have two identical robots doing similar jobs (Robot A and Robot B). Robot B will pick up mini parts easily and place them in a cart. I copied the same program from Robot B to Robot A, Robot A will move from the home position to the pick position (which is right on top of the mini part) and stays there without moving to the next point in the program. I get this error on the HMI: Robot A fault - "Check Suction or EOAT". I found out Robot A gets to line 29 in the program (see below) waits, and after a while, just goes straight to LBL [86] which is the "EOAT SUCTION FAULT" and it aborts the program. I'm currently dealing with this issue, any suggestion will be helpful. Thanks!
12:J PR[5:HOME] 90% FINE ;
13: ;
14: R[10:HOMING]=100 ;
15: GO[2:HOME TRACKER BITS]=R[10:HOMING] ;
16:L P[4] 4000mm/sec CNT100 ;
17: DO[56:BlowOff On To PLC]=PULSE,1.0sec ;
18:L P[5] 4000mm/sec CNT100 ;
19: //L PR[17:MiniPickAppr] 4000mm/sec CNT100 ;
20: WAIT DI[49:Part At Pickup]=ON ;
21: ;
22: IF DI[53:Dry Run Request]=ON,JMP LBL[4] ;
23: //L P[2] 4000mm/sec FINE ;
24:L PR[16:MiniPickPoint] 4000mm/sec FINE ;
25: LBL[4] ;
26: DO[55:Suction Off To PLC]=OFF ;
27: DO[54:Suction On To PLC]=ON ;
28: IF DI[53:Dry Run Request]=ON,JMP LBL[2] ;
29: WAIT RI[1:SUCTION 1]=ON AND RI[3:SUCTION 3]=ON AND RI[4:PART PRESENT]=ON TIMEOUT,LBL[86] ;
30: LBL[2] ;
31: PAYLOAD[2] ;
32: //L PR[17:MiniPickAppr] 4000mm/sec CNT10 ;
33:L P[1] 4000mm/sec CNT10 ;
100: ;
101: TIMER[1]=STOP ;
102: DO[37:Cycle Time Bit 2]=PULSE,1.0sec ;
103: R[11:CYCLE TIME C1Mi]=TIMER[1] ;
104: TIMER[1]=RESET ;
105: ;
106: ABORT ;
107: ;
108: LBL[86] ;
109: !EOAT SUCTION FAULT ;
110: DO[61:EOAT Vacuum Fault]=PULSE,2.0sec ;
111: ABORT ;
112: ;
113: ;