Restart after Emergency Stop

[Poudou]

Hello,

I'm quite new on Robot programming (6 month working on a small KUKA KR5Sixx, for training) and I'm currently working on a larger size project in the steel making industry.

The process I'm working on is critical for the customer, so if an emergency stop occurs, he should be able to restart the robot routine right after solving the issue and acknowledged the error.

I wasn't able to find a function/a way to restart after  the program which was interrupted by the Emergency stop, ideally, the motion that the robot was executing when the ESTOP happened. (basically, resume after ESTOP to the interrupted motion)

I assume I should modify the function called when ESTOP is pressed (HALT function in it) ...

Thank you.

(By the way, I'm following this forum since 6 month, and It helped me A LOT, so, again, thanks !  )

[kr16_2]

Robot resumes same motion after E-stop so I am not sure what the problem is?
It is possible that you PLC is forcing program reset after e-stop but that is not a robot issue then.

Do the test program with some simple motions. E-stop it any time and then resume after e-stop (in AUTOMATIC mode)

[SkyeFire]

Normally, the robot should simply pick up where it left off after an E-stop.  There are some caveats:

for high-speed motions with heavy loads that are interrupted by an E-Stop, the robot may drift off path while coming to a full stop.  If it drifts too far off path, the robot will try to backtrack to the point where it "fell off" the path, but under some circumstances it might be necessary to do that with the robot in Teach mode.
The larger issue is that, if the robot is thrown off-path by an E-stop while moving in tight quarters, the return-to-path motion could possibly hit an obstacle.  That's rare, but something to look out for -- generally you want the robot to move more slowly in circumstances like that, so as to prevent the issue from coming about in the first place.

In any event, the return-to-path motion of the robot is always executed at low speed, in order to give the operator a chance to see anything going wrong and react.

[Poudou]

Found it.

Some configurations/sample routines were already programmed on the robot and I finally found that a subroutine was called and which was  reseting the loaded program when ESTOP occurs. Removed the subroutine and Problem is fixed !

Thanks for answers !