FANUC TP program — skip/jump that only fails on the second cycle
The question
R-30iB Plus, handling. First cycle after a fault reset is clean. Second cycle jumps over a pick. No one changed the TP. Registers look the same at the start. Where do you look before you rewrite the whole routine?
TS ControlsThe answer
A flag that only gets cleared in the first home, not in the abort handler. Second cycle inherits it. Watch the skip condition and the register you use as a one-shot. Also check if a UI[ ] from the PLC is latched high from the first cycle. Pendant trace on the JMP label for two cycles — it will lie to you if you only watch cycle 1.
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