How to prevent robot start unless "on path"

[zanealtenkirch]

Hi All

Does anybody know how to prevent the robot from starting in automatic unless it is "on path" or at the start of a "PG".
The problem that I am experiencing is that if the robot is already in a sub routine called from the automatic PG program and somebody opens another sub routine and starts the robot in automatic, the robot just starts running from the opened sub routine. I am familiar with Kuka and Fanuc and they prevent this from happening. Is there any setting or method that I can use in which to prevent the above mentioned scenario

Thanks

Zane

[roboperson]

Im not sure what kind of controller you are using, but I assume it is a C or later controller. Have you tried creating a .PC program  and if conditions are present, then execute your mainline program.  For example.
 
If sig (dedicated signal motor power) and  (dedicated signal cycle start) and switch not (teach_lock) then
MC execute (mainline program)
end

This would run the mainline program, or whatever other program you choose if put into automatic.

Best of luck,.

[╚>George<╝]

Hello,
you first check the position of beginning of the cycle, or check whether the main program is selected.

es:
  IF WHICHTASK ("main") == 1 THEN
;
  END

[rdixiemiller]

 Are you running through a PLC or is the controller operating "Stand Alone"?

[╚>George<╝]

directly from the parallel task