RestoPath with another tooldata values after an interrupt

TuomasLLL

Hello, is it possible to continue interrupted path with the same tooldata but with a different z-value in the active tooldata? now it just gives the same error (Robot is too far from path to perform Startmove after interrupted position) everytime.

Lets say robot draws something with a pen, interrupt occurs. In TRAP routine, pen is changed to shorter one, same tooldata is still used, but updated according to the pen lenght. After this robot should continue the interrupted path. 

Is there a parameter for PATH, that how much TCP can be aside from original path to continue it? Tested this with studio and seems that it allows 10mm change in tool z- value to continue, if more than 10mm then it gives ERROR.

lemster68

Maybe you can turn on Path displacement in your interrupt.