Robotics

FANUC BG Logic vs a TP loop for a clamp interlock — where do you put it?

Samira Ndiaye · Robot tech

R-30iB Plus. Clamp must drop if the PLC loses the ready bit, even mid-TP. I was told BG Logic. I was also told BG Logic is how people hide unsafe shortcuts. What belongs in BG, and what stays in the TP so the next guy can find it?

Sofia Delgado · OEM programmer
Safety stays in the safety PLC and the fence. BG Logic is for always-on interlocks that are not safety-rated: auto-mode bits, a homing request, a UI map. Comment it. Keep motion in TP. If the clamp is a pinch hazard, it is not a BG assignment — it is dual-channel safety. Don't hide that in a background mix.

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