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Connections can be removed even in Standard access mode.
Enable Auto Acquire should be renamed to “Enable tech pendant control“. ‘Enable teach pendant control’ should also have a tool tip “RTR will automatically acquire control of the robot when a move command is received, and release control of the robot when the move has completed. This allows teach pendant programs to continue and execute additional commands“.
When “Enable tech pendant control“ is DISABLED:
BeginOperationMode causes RTR to acquire control of all robots in the cell. Explicit ReleaseControl call if something else needs to control the robot, Explicit AcquireControl call when they want RTR to take control again.
Use case: people controlling the system/flow from a centralized external PLC or PC.
When “Enable tech pendant control“ is ENABLED
BeginOperationMode does NOT acquire control of robots. Explicit Acquire/Release calls are ignored/not valid. Each Move command results in RTR automatically acquiring control of the robot, performing the move, and then automatically releasing control when the move is finished.
Use case: people controlling the flow from the individual robot controllers, that need control of program flow between every motion.
For certain robots (e.g. Kawasaki, Fanuc), if a user operates a robot from the teach pendant with a reduced speed, a trigger signal may not be able to maintain <100ms accuracy if the teach pendant speed is very low.
Example: Kawasaki F-series Controllers
100% speed, 2ms precision could be achieved when firing trigger signals.
1% speed, 200ms precision could be achieved when firing trigger signals.
Trigger outputs do not work consistently for combined move + alternate location, move queue, partial execution
Instability with RapidPlan Control/Appliance may crash occur when sending a CombinedMove with a Direct to Target move.
Control Panel canvas may display an error message “Failed to create target: <target name>“, even when the target is created successfully.