I'm having a following problem. I'm using a motion batch to drive the path while continuously checking a "Quit" condition and breaking the motion when the Quit is true.
when the Quit condition happens, Safety Stop happens too and afterwards it is not possible to move robot anymore. The robot should move linRel 10cm from the position where it was stopped. Even though it is possible to move back (no axis limits, singularities...) - it doesn't move. After 3/5/10min the exceptions comes:
"CK_COMPOUND_RETURN_ERROR Initialization failed. (SMM_INIT_FAILED_ERROR) froom compound "SuMoSplineMotion", instance "SplineMotion".
I already tried using Spline instead of the motion batch but it doesn't change anything...
The KRCDiag says:
INFO tCKLayer1 11:33:39.573 : handleStopRequest: CartImpWithJntInterface@LBR_iiwa_14_R820_1 drivesRampStop triggered after stop request ERROR tCKLayer1 11:33:39.573 : processInMaintaining (CartImpWithJntInterface@LBR_iiwa_14_R820_1) MaintainingExecute failed! ERROR tCKLayer1 11:33:39.573 : SPR 0007.0001.0000004C (Spline Motion SPR) in 'Maintaining' goes to state invalid! Error = CK_COMPOUND_RETURN_ERROR!