I am new to Fanuc robots and am trying to decide how to plan my current application in regards to recovery after an E-stop or an error in the process. Normally in these circumstances I would try to complete the operation but my customers mentality is to abort the operation and restart the sequence. My biggest concern is how to get the robot safely back to the Home position. My application requires the Robot (200iC/R30ia/with Handling Tool communicating to a AB Compactlogix controller over EthernetIP) to enter two small presses and into another piece of equipment that due to space limitations may require linear moves to enter and exit so a simple point to point move may not work to get back to the Home position. I am considering a couple options.
My initial plan is to have the robot recognize its position and use the appropriate path to get back to the Home position but I am not sure of the best way to approach this with a Fanuc robot. To complicate this I plan on having a separate User Frames at each station that I am picking or placing parts.
Another option I had considered was forcing the operator to place the Robot in T1 mode.. forcing them to hold the deadmans switch while they monitor the robots safe return to the Home position. In the worst case scenarios they may need to jog the robot to get to a clear path.
Any advice would be greatly appreciated.
Thanks