Good morning,
I’m facing a very rare error with the configuration of the outputs. I have an URCap app that uses an output to activate the tool that it’s used by the robot. This output is very dangerous and should go off when the program is not running in any case, so I programmed in the URCap the config out 0 (is the one that is wired to the tool).
“set_runstate_configurable_digital_output_to_value(0,1)”.
But this doesn’t work for some particular cases. The application uses MoveP and it makes a very tight trajectory in which it makes a change of direction of almost 180 degrees several times. The robot works perfectly and the moveP is exeucted without errors and everything works good. But after 1 or 2 cycles of this change of direction if I have programed the “set_runstate_configurable_digital_output_to_value(0,1)” the output goes off as the program stopped.
This is a very serious mistake, and I dont find any option to solve this issue. Maybe I can create a thread in java to check the robot program status and send a secondary to the robot. But I hope there is a better and more elegant solution to this behavior.
Thanks for reading, any help is appreciated.
Albert.