turning RSI on/off

    Kuka Agilus KR 10 R1100 sixx
    KSS 8.3.25
    KRC4
    RSI 3.2

    Is there a way to easily turn RSI on/off in the .src code itself, while the robot is working?
    And specifically if it can be Triggered remotely in one form or another (..by variable over.. RSI?..eh..)

    My primary goal is to have periods of robot movement in which I can safely cease udp communications without RSIBad stopping everything. So if there's an alternative to turning RSI totally off I'd be open to that as well. I have periods of (usually non-movement) where the server needs to do some heavy computation.

    If anyone has and leads or ways to do this?

    EDIT: I vaguely know of ST_OFF, is this a promising lead? but also, can ST_ON then be triggered from server-side afterwards?..

    Thanks,

    Edited once, last by AiSard (March 17, 2017 at 12:44 PM).

    ST_ON and ST_OFF are for activating and deactivating RSI. But they are totally under internal control.

    If you want to trigger either command from an external source, you'll have to have some sort of signal or handshake outside of RSI for ST_ON. You can have an RSI container terminate itself by setting up a termination condition and triggering that condition via the RSI inputs.

    Keep in mind, RSI was never intended to be turned on/off at the drop of a hat. It's as dangerous as it is useful, and as such relies on ST_ON only being called from conditions and locations inside the main KRL program where it's safe to do so. You certainly can't just jump in/out of RSI arbitrarily while the robot is doing something else.

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