To get some information cleared up, I have made sure that the servo request(s) from our PLC are only pulsed, do not stay on. The PLC is setup to turn off the request signal after confirmation of servo on for 0.5 second.
So, some of the robots I'm working with, when reaching only particular wait statements, can lose their servo. The only way I can get the servo to come back on is by placing the teach pendant into teach, and then putting it back to remote. Sometimes putting the plc teach input to on, then off, also works, but this method is not very reliable. I will be investigating this issue but upon doing some Googling and looking at manuals, I'm at a loss for what specific issue could cause this. If anyone knows what things I could start to look at to find the solution, I would very much appreciate.
Thank you, Ryan.