Hello,
I have a Fanuc R-30iA on a separately-controlled robot rail (not 7th-axis, but controlled by PLC). I would like to stop the robot if it is moving when, for whatever reason, the rail is not in one of its two positions.
I was planning on using a conditional monitoring program that is enabled at the top of each motion job and turned off at the bottom of each, that would monitor an input to the robot from the PLC that would tell it if the rail is in one of its two positions.
If this condition happens, I would like to stop the robot and abort the program, so that the robot will home and not continue its current job after resetting.
I was wondering if there is a better, cleaner way to do this.
Any help would be greatly appreciated.
Thanks,
Keith