I am working on an application using a robot for grinding, I want to be able to turn off the grinder and retract the robot from the grinding wheel then wait for an operator to recover in the event of a loss of air pressure, or other error. I currently have the robot programmed using a condition monitor looking at a DI for air pressure, the condition monitor program calls a program that turns I/O off, but I can't program any motion or call another program that has motion because the motion group is locked by the main program.
I believe the Skip Jump function described in the programming manual might be the way to go about programming this:
7.3.16 Skip Jump
The SkipJump motion option is available to all tools. Its functionality is similar to the function of
Skip Label, except that the action is the reverse of that of Skip Label motion option.
SKIP CONDITION [I/O] = [value]
J P[1] 50% FINE SkipJump, LBL[3]
I have not found the correct combination of soft keys and menus to use the SKIPJUMP function, it doesn't seem to exist in my control, I have found the functions for SKIP CONDITION and SKIP LBL, but SKIPJUMP eludes me. Can somebody tell me where I should be able to find the SKIPJUMP function, or if I have to enable the function in the parameters somewhere?
Finally, I'm not super thrilled about having to add the skipjump, LBL commands to every line of motion in the program, I really like the idea of using the condition monitor where a branch program is called, I just can't figure out how to manage the motion part. Any advice would be appreciated.