RobotStudio event

Robot isn't stop immediately when pause button is pressed

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RobotSailor
RobotSailor ✭
in Robot Controller
Hello Guys

I have experienced the following phenomenon in my past press system build project
It was a press system with a total of six robots and was undergoing a safety check to perform no-load(dry) tests.
In this process, even if the pause button connected to the safety fence was pressed, the robot did not immediately stop and proceeded to one step and then stopped.
This phenomenon disappeared after IRC5 was restarted and repeatedly in some robots.
To solve this problem, we applied another soft stop in addition to Quick Stop, but it was not a fundamental solution.(See cropped EIO file. We put "di111_Softstop" additionally at SYSSIG_IN)
We did not know exactly whether this was a hardware problem (PLC or robot) or a programming problem.
If you have experienced similar phenomena, please answer the case and the solution.
Please leave a comment if you would like to view the entire MOD or EIO files, since the file can't be attached.
Thank you

**********************EIO FILE**********************
SYSSIG_IN:

      -Signal "di37_ErrorReset" -Action "ResetError"

      -Signal "di39_ErrorReset" -Action "ResetError"

      -Signal "di19_Stop" -Action "QuickStop"

      -Signal "di23_MainStart" -Action "StartMain" -Arg1 "CONT"

      -Signal "di24_Restart" -Action "Start" -Arg1 "CONT"

      -Signal "di38_EmgReset" -Action "ResetEstop"

      -Signal "di40_MotorOn" -Action "MotorOn"

      -Signal "di111_Softstop" -Action "SoftStop"

 ********************BACK INFO**************************

>>PRODUCTS_ID:

RobotWare Version: 6.04.00.01

  RobotWare Base
  709-1 DeviceNet Master/Slave
  608-1 World Zones
  611-1 Path Recovery
  617-1 FlexPendant Interface
  623-1 Multitasking
  Motor Commutation
  Service Info System
  Pendelum Calibration
  Drive System IRB 460/640/660/760/4600/66xx/6700
  Axis Calibration
  IRB 6660-130/3.1
  87-1 Cooling fan axis 1 motor

>>HOME:
All public files and directories

>>SYSPAR:
SYS.cfg
PROC.cfg
MMC.cfg
EIO.cfg
SIO.cfg
MOC.cfg


>>TASK1: (T_ROB1,NewProgramName,)
SYSMOD/USER.sys @ 
SYSMOD/LINKEDM.sys @ HIDDEN
PROGMOD/ROBOT3.mod @ 

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