December 14, 2018, 10:01:21 PM
Robotforum | Support for Robotprogrammer and Users

Author Topic:  Restart RSI After External Emergency Stop  (Read 364 times)

0 Members and 1 Guest are viewing this topic.

May 17, 2018, 11:29:51 PM
Read 364 times


I am trying to restart RSI after an external emergency stop ($ALARM_STOP = F, $ALARM_STOP_INTERN = T) in automatic external mode.  I am using a higher level PLC which sets the input lines on the Beckhoff board of the robot controller to try to do this.    However, I can't find any documentation about how to use the input lines to restart after the external emergency stop.  Is this possible?  If so, how?


May 18, 2018, 12:11:44 AM
Reply #1

panic mode

Global Moderator
Estop is a manual function and it requires manual reset. In EXT mode you can use IO signals to restore drives power, acknowledge messages and start program.
2) if you want reply about robot, post it in forum
3) read 1 and 2

May 18, 2018, 12:43:20 PM
Reply #2


Global Moderator
In all of my RSI applications to date, I killed the RSI container on an E-Stop, and used IR_STOPM or a similar interrupt to move the robot back to the "starting point" of the RSI activity in the regular KRL program, before attempting to re-start the RSI activity from scratch.