I am using the Fanuc R-30iB controller for my robot. And my robot application is a continuous glue path (Same as welding). So the situation is if someone broke my safety zone my robot will stop. But when my safety zone is clear. It will not follow the rest of the path. So I have to do reset, then robot go back to home and It will begin cycling from the start again.
So how can I enable the robot from the same point from It was stopped??