I am controlling my PS robot cell with a real PLC over OPC connection.
I created a program that runs as many rounds as I set in PLC code.
The problem is when I run more than one round, program runs to the end but the robot doesn't send programEnded signal and therefore I am unable to start new cycle (I have to stop and start my Process Simulate again after bigger cycles than 1).
If I manually write send programEnded signal into OLP commands, that either doesn't work.
Everything works great if I run only one cycle at a time.
Question goes: I hadn't this problem in earlier version (12.0) so is there made some changes in 12.1 or should I check for some issues from my project?
A help would be appreaciated!
My robotic program is like this:
1. ProgramNumber 1 from PLC (in PS I have a Main operation: Path 1)
2. in Main operation I call path firstOp
3. in firstOp's last via point I call path secondOp
4. in secondOp's last via point I call either path thirdOp or fourthOp (I used an if statement that checks if there is any assemblies to be assembled) (thirdOp: asm >= 1 and fourthOp 0)
Third and fourth operations have both only one location which are different so the program goes smoothly when there is assemblies left. There isn't any OLP commands on either Op.
After the last assembly the fourthOp is called and if I asked for 1 asm, then I receive the programEnded signal and if I ask more than 1 assemblies. The PS doesn't send programEnded signal.
Hello, I was wondering should I call another program from the Default Program as many times as I have assemblies?
What about using Modules, should I create Modules hierarchy when simulating with PLC?
If I understood the first question correctly, the answer is yes.
Just do it like the real robot would.
Modules are ignored during PLC connection.
These are only for the CEE-mode.