Display MoreIn the application, in the sps the software limits of axis E1 are now written in the submit program :
f.i. $SOFTP_END[7]=180.0, $SOFTN_END[7]=180.0.
The writing is always done (no if statement).
We got reply of custommer that sps is sometimes stopped since we did last changes to the robot.
The changes were not just the software limits but also other code.
We did not get the ability yet to inspect the logs of the robot for diagnosis.
Does anyone know if writing the software limits of an axis constantly in the sps is no problem for the controller, or if it could be the cause for the sps stopping?
Until we get access to the controller it would be good to know if this is allowed.
Hello, if in the sps is used $POS_ACT, $TOOL or $BASE they in some cases can stop sps from executing. For example when robot is turned on, those variables at boot have undefined values(you can see that by ? mark in tool and base window). Software limit switch you can also write at the start of the robot program, if you don't need to constantly overwriting the same value over and over again.