Hello
Recently there was a collision of robot at my work. When we had checked the logs it said A1 master was done and when I checked the robots physical position and value in the kCp it was quite vague. Thus concluded operator has mastered the robot at incorrect position.
I'm using a gantry robot with Kuka controller krc 2 ( external kinematics ). Is there a way by which I can prevent mastering at wrong location. I thought of providing a sensor at the X beam and only after receiving the sensor input robot's A1 axis could be mastered . How to lock the mastering facility this way ?