Hello,
I'm trying to compose the solution of restart of the tech process (arc welding) after the program was stopped on the process path and is resumed again. At the moment I trace $PRO_ACT to stop the process with the main program interrupted event.
The problem is how to determine if the program resumes from the line where it was stopped at. It is necessary to avoid the situation when operator puts main pointer to some else program line during program deactivated and robot goes away from the process trajectory, but the $PRO_ACT flag gets up anyway.
E.g. Fanuc controller reminds if user tries to launch the program not from the "stop-line" and I'm pretty sure there is some binded system variable which could be caught. Kuka doesn't care if the runtime pointer has been moved by operator manually and dispays no warnings concerning, but I hope the flag exists.
If so, what's its name?
SI: KR5 Arc robot, KRC2 controller, the ancient 5.5.7 KSS version