I'm wondering what other people's methods are for recovering from an e-stop in a situation with a robot that has multiple stations (6 in this case) that it could possibly be at.
The robot is moving a fixture between six stations where it is processed. If the e-stop circuit is broken, and then reset, I want to be able to move back to a safe (common) position with a different routine from each possible station that it could have been at when the e-stop was triggered.
The Z axis isn't always safe to retract in if it's at certain stations. So, I want to have a recovery routine that "knows" what the proper motion sequence is depending on which station it is at. I want to avoid requiring the operator to manually jog the robot to a safe position to recover from an e-stop.
I'm using an Epson robot with RC+5 - but I'm familiar with RAPID and V+, so general suggestions in another programming language would be appreciated as well.