Hello
I have a small issue regarding the external mode. I my logic in PLC, I use P_Free to check if the program was canceled and maybe the operator selected another program in T1. In this case I cancel the program and call again the "main program". I don't use classical "cell" because I don't know how to check if the robot was jogged in T1 or operator moved the robot in T1 in another program.
I have read about $On_path, but I think this is True if a program is executed in T1 and I don't want to use $Ext_Start in this case because it can be a wrong program even if the robot in on trajectory.
What should I check before I use Ext_Start? to use the classical cell.
On new controller restart (after a power off), the robot lose the $on path and cell is deselected?
Thank you!