iiwa MF Touch Electric return to path after handguiding

    Hi Robot Experts!


    We have two Kuka iiwa LWR 7 R800 with the Media Flange Touch Electric.


    Here the simplified Use-Case:
    On the controller we are running a program which moves the robot continuously in AUT mode. When it detects a collission (e.g. you push it a little bit) it simply stops.
    We configured the flange that you can use the white enabling button to move the robot in handguiding.


    Now my problem:
    After handguiding the robot is of course not on the path. To continue the previous program, you first need to hold the "Play" button on the TeachPad, until the robot reaches the old path, and then you need to press the "Play" button once more to start/resume the old program.


    Would it be possible to somehow configure the controller that you do not need the TeadPad at all after handguiding? I.e. it would be nice if after handguiding you press the green button on the media flange, and the robot moves back to its old path and continues execution with the progam.


    I checked the docs but couldn't really find a way to do it.


    Any comments or ideas are really appreciated!


    Thanks
    Stefan

    Thanks for your answer!
    I already had a look at external control, but as far as I can see, it is not possible to move the robot back to path through that (UDP) interface.


    I will look at it again!

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