现在我在做一个负责一个项目的收尾工作，用的是机器人与300plc的配合，可是一直有个问题
机器人电源只有plc接通才启动，但是机器人启动比plc慢很多，所以每次都要等机器人完全启动了，要去手动拨一下plc 上stop-run拨片，之后才能正常工作。
在程序中我加了ob82和86，但是实际工作中还是不行，查看cpu错误报告，说是配置问题，其实就是机器人启动慢没有互传信号所致，但是说没找到ob82和86我就纳闷了，求教各位了
Diagnostic buffer of module CPU 313C-2 DP

Order No./ Des cription Component Version
6ES7 313-6CF03-0AB0 Hardware 2
- - - Firmware V 2.6.11
Boot Loader Firmware expansion A 0.21.0

Rack: 0
Slot: 2


Serial number: S C-B3V692702011


Event 1 of 100: Event ID 16# 38C4
Distributed I/Os: station return
Address of the affected DP slave: station number: 7
DP master system ID: 1
Log. base address of the DP slave: Input address: 1022
Log. base address of the DP master: 1023
Requested OB: Rack failure OB (OB86)
OB not found, or disabled, or cannot be started in the current operating mode
External error, Outgoing event
04:53:48.855 AM 07/08/1994


Event 2 of 100: Event ID 16# 3842
Module OK
Module type: Distributed I/0s
Input address: 1022
User information available
Diagnostic interrupt from substitute
Requested OB: Diagnostic interrupt OB (OB82)
OB not found, or disabled, or cannot be started in the in the current operating mode
External error, Outgoing event
04:53:48.778 AM 07/08/1994


Event 3 of 100: Event ID 16# 38C4
Distributed I/Os: station return
Address of the affected DP slave: station number: 8
DP master system ID: 1
Log. base address of the DP slave: Input address: 1021
Log. base address of the DP master: 1023
Requested OB: Rack failure OB (OB86)
OB not found, or disabled, or cannot be started in the current operating mode
External error, Outgoing event
04:53:46.922 AM 07/08/1994


Event 4 of 100: Event ID 16# 3842
Module OK
Module type: Distributed I/0s
Input address: 1021
User information available
Diagnostic interrupt from substitute
Requested OB: Diagnostic interrupt OB (OB82)
OB not found, or disabled, or cannot be started in the in the current operating mode
External error, Outgoing event
04:53:46.853 AM 07/08/1994


Event 5 of 100: Event ID 16# 49A0
STOP caused by parameter assignment error or unpermissible difference between preset and actual configuration: startup disabled
No relevance for user (SDB no.): 2000
Previous operating mode: STARTUP (warm restart)
Requested operating mode: STOP (internal)
External error, Incoming event
04:52:34.967 AM 07/08/1994