Why not use UOP Production Start instead. The in system config set start for continue only to true.
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Prod start UI[18] will start the program you have chosen by the program select method you have set from line 0. You don't have to worry about what program is currently on the TP.
You should verify the robot is in a safe position before starting.
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If you set "Start for continue only" in the system config, then UI[6] start signal can only resume the paused program. UI[6] Start is not allowed to start a program from an aborted state, only to resume where it left off. So then you can use prod_start to start from the beginning and UI[6] start to resume if the robot has not been jogged, or any other criteria.
Hi,
And how are you exactly detecting if the robot was manually moved?
I would like to detect if the robot was jogged out of the path of the current segment.
Thanks.
You can check this system variable in your program.
$MOR_GRP[1].$JOGGED
