My company recently got a job to reprogram an already-used Kawasaki robot with E controller. We prepared an AS programs that work ok in teach mode, but we have to enable user to start a program externally, so we used this "non-full" RPS method as suggested in the reply to this post.
The RPS itself works, it calls program (external program reset, motors on, and cycle start signals all work ok) but at a certain line of code, the program just stops, no error message, and waiting indicator on the right side of teach pendant screen is light-grey (it is not active), same as external hold. AUTO and RPS ON are dark-gray (active) and CHK is set to continuous. We also setted up STEP and REPEAT both on continuous.
When we just started the program for the first time, it stopped on the first line of code (TWAIT command) and after we commented out that line, the pg0 program called communication program (the next line) and stopped again on TWAIT command inside that program. After we commented out that line of code as well, it called another program and it stopped on another line of code (inside that next program) that uses PRINT command. The program that pg0 calls is a communication program pretty much same as examples in TCP/IP manual.
Everything works ok in teach mode as well as in repeat mode when not using RPS but starting a program directly from a teach pendant.
Does anyone have any experience with this or some ideas about what we are doing wrong or just some suggestions on what we can do or what to look for? Any help, advice, or suggestion is welcome.