I have a problem with two robots. ARC Mate 120iD/35, further known as bag robot and one ARC Mate 100iD , the layer robot.
The task is to palletize bags in a box, whenever the counter of bags is so far that a layer counter is calced one up, the other robot should insert an intermediate layer, but also at the very beginning once under all coming bags.
Intelligence is on the robots, PLC is not controlling anything.
The Layer robot deposits his layer first, turns on his signal "ready for bag" then comes the bag (1 or 2 bags per layer, depending on type) robot, on his way to the box, he turns off the permission for the layer robot. He turns it on again, when actual layer is fully palletized. after that, everything works perfect.
My problem is to allow the one robot to enter before the process begins, and find solutions for all coming cases.
Currently I have it so that the intermediate layer robot in the initialization switches the signal for the bag robot off, so that he does not palletize first, and the bag robot switches the signal for the layer robot on, so that the layer robot can deposit at the bottom first.
The problem now is that the layer robot moves infinitely often to the first position, if for some reason the bag robot is too slow, because the signal for the layer robot is only switched off when it is on its way into the box.
I need some way to control that and can´t find a solution because, if i use a counter value, i match that condition once and never after.
Next issue - i have to solve it tomorrow :-/
Thanks for all of you who took their time to read and maybe give some input!