I have some troubles to get two IRB140 to start. (I think this problem is new after the last robotware upgrade 5.09) This happend always.
When we sent RIS command Pause to the robot we get responce robot in pause, the gates goes open and the robot is going to guard stop mode. Until there everthing is OK but when we sent RIS command Start to the robot, he start (Move to savestop and WaitForExeOrder) but stay in pause in Pickmaster !!!
There are two possibility to start again :
1/ Start the robot form pickmaster ==> OK
2/ Sent Pause and Start RIS command again and then the robot run.
What could be the problem ?
There is also an other point that I want to clarify : When putting the robot in pause the signal doStartCnv1 keep the high status is this normal ?
The second problem regarding the doStartCnv1 I can tell you.
The conveyor control signal do not care about the state of the PickMaster. It only bothers about the project settings and the products. If you configure the not use Start/Stop the signal will be hight as long as the project is running. If Start/Stop is used the doStartCnv1 signal will drop as soon as an item reach the stop limit. The actual start order signal to the drive must be logical connected by the customer/integrator depending on the required behaviour.
But the dubble start make things difficult, it is not only on our IRB140 but on all are pickers also. And it is not only the start the problem because when I put one robot in pause the other robots stop also working it look likes that there do not get items. After starting the paused picker again the other robots start again and I get a lot of warnings 4316 (Old scene discarded) - 4317(Scene info from P1_cnv3 discarded).