Here I am encountering an issue while creating a BG Logic program. My objective is to abort the program upon encountering an error, specifically when the condition (UO[6] Fault = ON) is met due to any issues with the robot.
Although CSTOPI for Abort is available, I prefer to incorporate it with the fault condition. This way, the robot can initiate the recovery to its home position whenever an error occurs during the execution of any program.
Controller details:
Model: LR Mate 200iD/7L
Communication protocol: PROFIBUS-DP
Software Version: V8.20P/35
I have attempted various methods (refer to the attached picture) to achieve this, but consistently encounter the error INTP-443 (%s^4, %d^5) - Invalid item for Mixed Logic.
Can someone assist me in comprehending how the IF statement works without the THEN and ENDIF conditions?