Hi everyone,
During my internship I was given a task to write a program which would automatically change robots path after entering DCS. I created Cartesian Position Check (CPC), connected that CPC to Safe Peripheral Output(SPO) and mapped those signals to DI/DO' so I would be able to trigger custom Macro. The problem is that when Macro is triggered (robot arm enters DCS zone) i get the PROG-040 Error and macro doesn't initiate any commands.
My question is how can i overcome that problem and force my robot to pause main program when my it enters DCS zone and run macro subprogram ?
Thank you in advance for your help and suggestion