I have a Fanuc robot running on an older R-30iA controller. As best as I understand it, the P-SPS function is supposed to interrupt the robot from running it's normal cycle and allow it to pause while it waits for commands. Some things were re-taught and that functionality seems to no longer pause the program causing it to stop. Does anyone have any more information on P-SPS so I can better troubleshoot this?
The line in question is as follows:
J P[2] R[110]% CNT R[128] DB 0.0mm, P-SPS