i`m using one arc mate 100 iD, one arc mate 120iD and one R-2000iC with Software version v9.4.
My issue is to do a correct handshake with PLC after the following situation:
i have written a gripper macro for switching IO`s depending on arguments.
In my case, i am waiting for vacuum=on with a timeout.
If the timeout happens, i`m sending a user alarm.
My understanding is that in this situation, i need:
1.Fault reset from PLC
2.CSTOPI =TRUE from PLC to send my program cursor to Main program line 1 (see config screenshot attached)
3.Program start with UI Prod start
my PLC mate wants to do a proper handshake to prevent the operator to toggle the command, that contains CSTOPI and fault reset signals, like a maniac.
It should do something like acknowledge that fault has been reset ( i guess i could use UO = off for that ) and Programreset has been executed and Robot is ready for execution again.
Will any background logic be stopped with a CSTOPI=TRUE?
Any suggestions how to accomplish that in a proper way or rather, is there a signal that is ON when all these things have happened?
Thanks for your time