Hi all, I have a brand-new LR-Mate 200iD 7L with an R30 iB Mate Plus controller, running system version 9.30 going into a new cell. Still in the debugging phase.
I have a main program, initiated by UI18, that constantly loops and looks out for DI signals that call various subroutines for measuring parts, validating and calibrating an air gauge, etc. All of this works well at this point.
To home the robot I have a button on the HMI send out a cycle stop, then it pulses UI7 to execute a home macro. This home macro program is one line long and it just calls the Home TP program.
This works 98% of the time, but occasionally, the robot wont execute the macro and an error MACRO EXECUTION FAILED, ABORT IN PROGRESS will pop up, and I can't figure out what or why it's getting hung up.
And to make matters worse, an even smaller percentage of the time, this ABORT IN PROGRESS issue will keep us entirely unable to start a program, or jog the robot. The cycle start button on the controller will remain illuminated and the BUSY flag in the upper left corner of the TP will be active. It seems like these issues are connected, but I'm not entirely sure.
I have it set so that CSTOPI acts as an abort all programs, and as I mentioned, this works the majority of the time.
I've read on here that a lot of users are kind of lukewarm about the UI7 home macro function and I'm hoping to hear an explanation as to why, and maybe hear some other ways of aborting and calling a home program that are more robust/less finnicky.