Hello,

I am not familiar with fanuc robot. I am trying to run a program from background logic. I have a R30iB Fanuc Controller with an RSR001 which run continuously.

In the program WAITDI, an instruction to wait the state of DI[10]. If its ON, I want to call a program to put the robot to a home position tought in the program GOHOME.

When I try to run WAITDIT program in background logic, I have this error:

INTP-443 Invalid ite for Mixed Logic

Can you please tell me what’s wrong with my configuration?

Thanks a lot