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path recovery after e-stop was triggered

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  • IstvanSzabo
    IstvanSzabo ✭
    matti said:
    Hallo, thats right. You have to use  \singlesafe switch to have the interrupt working after a quick stop.
    But it will work only once, so you have to reconnect in the trap-routine.
    Your case is special, because you intend to go to a cleaning position after the e-stop.
    Usually you just continue bei pressing start. Especially when welding, the robot will perform a restart a little bit backwards automatically (if configured in the error handler).
    A description of the method you will find in Technical reference Manual-Rapid Kernel 3HAC16585-1, , Revision G
    Controller software IRC5 RobotWare 5.12.


    Thank you Matti you are a hero !!!!

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