CRS F3, User Manual

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Chapter 8: Operating Basics 77
99-05-31
Additionally, a user-written application program may have point of control.
Refer to the RAPL-3 Language Reference Guide for RAPL-3 commands related
to this feature.
Once a process has control of the robot, other processes requesting control
will receive a “Resource Busy” error until the first process releases control.
In the event that the process with point of control terminates abnormally,
the robot server will not pass control to a new process until the user presses
the “Pause/Continue” button on the front panel of controller. This effectively
gives the front panel the highest point of control.
The purpose of this feature is to ensure that an operator cannot
inadvertently take control or deliberately seize control without going to the
workcell to complete the transfer of control. The act of going to the workcell
forces the operator to have a clear view of the robot and any other person or
potential hazard in the vicinity.
Delay after Turning on Arm Power
F3 robot motion should only be started 2 seconds after arm power is turned
on. In manual operation, this is usually not an issue; however, in a RAPL-3
program, the delay() function should be used after automatic detection of
arm power.
if (robotispowered())
delay(2000)
....
endif
If the recommended delay is not added in a program, the power relays in the
controller may weld and lead to failure in future robot startup. This is not in
itself hazardous but is nonetheless a nuisance. Future releases of software
and/or hardware will address this problem.
Abnormal Process Termination
Ideally, an application will terminate naturally every time as designed. Real
world experience shows that this is often not the case, particularly during
the development phase.
Abnormal process termination can happen due to internal errors or at the
command of a supervisory process. In addition, a user may deliberately
terminate a process with CTRL-Z, CTRL-A or CTRL-E at the terminal (refer to
the Application Development Guide for details).