path recovery after e-stop was triggered

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.