December 14, 2018, 10:01:21 PM
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Author Topic:  Restart RSI After External Emergency Stop  (Read 364 times)

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


Hello,
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?

Thanks!
bwait

May 18, 2018, 12:11:44 AM
Reply #1
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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.
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
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
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SkyeFire

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.