KR 6 R900 / KRC4 Compact / KSS8.5.7 / WOV5.0.9
One of our customers wants to add an initialisation cycle on a robot that already work fine. With a push on a button I must first stop the robot, then do an offset following Z+ and then abandon the current program and RESET the cell.
Based on programming manual, I've used an interruption and it worked fine, but the problem is that the robot resume the cycle from where he was stopped after executing the interrupt program. (This is not what I need for my application).
Then I've tried using CWRITE inside "sps.sub" but it has no effect.
How could I STOP then RESET a task ( program ) ?