Brand-new LR-Mate 200iD with an R30 iB Mate Plus controller, running system version 9.30199, with irPickTool and irVision doing line-tracking pick from a moving conveyor. The Vision task is triggered every Xmm of conveyor travel, with no part-detected input.
The whole setup is running well so far, but I've come across something very strange. After running for some time, the robot will simply stop reacting to parts passing under the camera. When this happens, there are no errors, the RUN indicator is still lit, but the pendant menus become strangely unresponsive. The Function button does nothing, as do Select and Edit. Menu will bring up the menu tree, but hitting Enter on any of the sub-menus does nothing. And the menu tree stays on screen permanently, no matter how many times I hit PREV. The only way I found to get out of this condition was to power-cycle the controller. Although I did find that if I switched the robot to T1, after several seconds, the menus would start working again (but rather laggy, compared to normal response times).
After a few occurrences of this, I initially believed that it was connected to the fact that I had the irVision Runtime opened on my computer (connected to the R30 ethernet port). I thought this because, whenever the robot "froze", the web browser page on my computer would also throw a fault.
However, after ensuring that I did not have the irVision Runtime open (or any other irVision/irPickTool browser pages), and rebooting, I encountered the issue again, after only about 30min of runtime. My next suspect was the irVision image logging -- at the time, I had the logging active to my USB drive, and was logging all images. And with the conveyor moving at a quick pace, irVision was probably triggering 2-3 times per second.
I shut down the logging and removed my USB drive. After that, I got 2hrs of continuous runtime without the issue recurring, so I think that may be it. But I'm still waiting for it to happen again.
Has anyone else ever encountered any behavior like this? I can't yet rule out the possibility that this robot just has a bug somewhere. No errors appear in the logs from the times when this happened.