Reset KUKA robot with E-Stop

Hello,
E-Stop means E-Stop and this is totally for safety related purpose. Its function does not include deselecting and selecting programs.
If a robot is stopped, it can resume the current task or go back to Home position using appropriate tested Homing strategies and the respective command in this case can be given from the HMI. Why do you want to "change" a program with Emergency Stops?

Hello, Im trying to do exactly what you mentioned, the link you provided with the solution doesn't work anymore, can you tell me how you did this? (If you remember).

Thank you.

    IF (I_PROG_STOP OR ($TIMER_FLAG[16] AND FLAG_WD)) AND ($PRO_STATE1 <> #P_FREE) THEN
      IF (($PRO_STATE1 == #P_STOP) AND I_PROG_RESET) OR ($PRO_STATE1 == #P_END) OR ($PRO_STATE1 == #P_RESET) OR FLAG_CANCELPROGREQUEST THEN
        CWRITE($CMD,STAT,MODE,"CANCEL 1")
      ELSE
        CWRITE($CMD,STAT,MODE,"STOP 1")
      ENDIF
    ENDIF
    IF NOT I_PROG_STOP AND ($PRO_STATE1 == #P_FREE) AND NOT I_PROG_RESET AND NOT O_PROG_SELECTED AND ($MODE_OP == #EX) THEN
        CWRITE($CMD,STAT,MODE,"RUN /R1/ROBOT()")
      ENDIF
    ENDIF
   
 SWITCH $PRO_STATE1
      ; No Program Selected
    CASE #P_FREE 
      O_PROG_SELECTED = FALSE
      O_PROG_RESET = TRUE

      ; Program Selected but Stopped
    CASE #P_STOP 
      O_PROG_SELECTED = TRUE

    ; Program Stopped at Step 0, Ready to Start
    CASE #P_RESET
      O_PROG_SELECTED = TRUE
      O_PROG_RESET = TRUE

    ; Program Selected and Running
    CASE #P_ACTIVE
      O_PROG_SELECTED = TRUE
      O_PROG_RESET = FALSE
    ENDSWITCH

The CWRITE to the $CMD channel in the SPS can perform STOP, CANCEL, and RUN operations on the Robot Interpreter. Use of these commands needs to be carefully managed with the $PRO_STATE1 variable to ensure each command is only fired once, and in proper sequence, instead of "hammering" the command repeatedly.

In the above example, the user inputs I_PROG_STOP and I_PROG_RESET could stop the program, or Cancel it and then call the program ROBOT() (this can be replaced with whatever your 'main' program is, but the /R1/ part is mandatory). The user outputs O_PROG_SELECTED and O_PROG_RESET are used as status indicators.

Since the SPS runs in an infinite loop, and cannot contain WAIT commands, using state machines as above is also mandatory.

Quote from dalex10

the link you provided with the solution doesn't work anymore,

Here it is: Cancel Program and Send Pointer to Cell.