2 Robots

lordsikander

Hello to All..
I am working on 2 abb robots.
ABB 6700 with Robotware 6.12
ABB 4400 L30 with Robotware 5.07. Both robots are connected to siemens PLC. 
To shift the control of both robots process execution (code execution).
ABB 6700 first execute the process then share its status bits with  PLC, ("MechUnitnotMoving" etc..). The PLC then turns on the 4400 using system input bits.
In my ABB 4400 "MechUnitNotMoving" system output bit is not present making it difficult to share the stop state of ABB 4400 to PLC, so that PLC Start ABB 6700.
The PLC control can only be done keeping robots in Auto mode, and in Auto mode motors are by default on, motors off state bit can not be used to share 4400 status.
Is there any other alternate solution to the problem..(In absence of "MechUnitNotMoving" bit).
Regards

Newman

Are you sure you don't have system output "Mechanical Unit Not Moving" in rw 5.07? Do you have "Task executing"?
Maybe you could upgrade to rw 5.16?

lordsikander

Yes Sir, i cross checked that. The available bits are Mechanical Unit Active, Auto On, Cycle On,...
Upgrading Robotware, i ll go for this option as well.

lordsikander

Task Executing bit is available in system output.
Sir just for my guidance, can we rely on Task Executing status in multitasking while working with two robots.

Newman

You can try, I have used this myself in multimove systems.

"Task executing" is same as "Running" on flexpendant.