Dropping Parts

I have a robot that is dropping parts after it sits idle for 60 seconds. The problem is the robot used to not drop these parts. I compared the LS copy of the program where it is waiting and seen that in a few rungs the program is missing the OFF. Below is a sample of one place and the difference between the two. Could this cause the issue? Or should I just load the total program back in the robot. Please advise.

Now:

10: R[40:runout loop]=0 ;

11: LBL[100] ;

12: R[40:runout loop]=R[40:runout loop]+1 ;

13: IF R[40:runout loop]>10,JMP LBL[900] ;

14: CALL MC_OPEN_INFEED_GRIPPER ;

15: ;

16: CALL MC_CHECK_CYCLE_STOP ;

17: ;

18: WAIT DI[5:OK To Pick Rod]=ON TIMEOUT,LBL[100] ;

19: DO[5:Rod Pick Active]=ON ;

20: F[1:runout active]=(OFF) ;

Before:

10: R[40:runout loop]=0 ;

11: LBL[100] ;

12: R[40:runout loop]=R[40:runout loop]+1 ;

13: IF R[40:runout loop]>10,JMP LBL[900] ;

14: CALL MC_OPEN_INFEED_GRIPPER ;

15: ;

16: CALL MC_CHECK_CYCLE_STOP ;

17: ;

18: WAIT DI[5:OFF:OK To Pick Rod]=ON TIMEOUT,LBL[100] ;

19: DO[5:OFF:Rod Pick Active]=ON ;

20: F[1:ON :runout active]=(OFF) ;

21: ;

-New GUY

GPUNKT,

This makes sense now. After further looking at the program it is timing out and the robot is being told to ungrip. I will rewrite that portion to loop a few times and just call another drop point rather than just dropping in the wide open.

Thanks,

NewGuy

HAWKME,

It is waiting for another part to be in place for pickup and it is timing out while waiting. Then the robot is going to pick a finished product and when nothing is there it calls for the gripper to open and go grab another of the same part it just dropped and loops thru the same program. It continues to do this until either the parts run out or the other part makes it to the pickup point.

I want to write the program to evaluate that it still has a part in the gripper and just wait to time out and complete the loop. This way we are not dropping a part.

Thanks