DI"LoadAndStart" and DI"Start" are input simultaneously.

Cause:

In external mode, the load-and-run signal and run signal are supplied simultaneously.

Troubleshooting:

Check whether the load-and-run signal and run signal in the system signals received rising edges simultaneously.

Solution:

Only one of these two signals can be triggered at the same time. Select either the load-and-run signal or the run signal as needed.

Case sharing:

Name	Type	Port	Active level	Comment
Default program				v141.sr\ptp1
Program1	DI	1	High level	v141.sr\modify
Program2	DI	4	High level	v141.sr\test7
Program3	DI	6	High level	v141.sr\linisr
Program4	DI	7	High level	v141.sr\trace
Enable	DI	9	Rising edge	Robot enable command
Load	DI	2	Rising edge	Load program
Load and run	DI	5	Rising edge	Load and run program
Run	DI	10	Rising edge	Robot run command
Clear errors	DI	11	Rising edge	Robot clear-error command
Pause	DI		Rising edge	Robot pause command
Stop	DI		Rising edge	Robot stop command
Collision	DI		Falling edge	Robot collision input signal
Run	DO	43	High level	Robot running status signal
Error	DO		High level	Robot error status signal

If system signals are configured as shown above, with the load-and-run signal assigned to port 5 and the run signal assigned to 10, then in external mode, simultaneously changing DI5 and DI10 from low to high, that is, issuing rising edges to DI5 and DI10 simultaneously, reports error 4022.