How to continue program from position after manual movement.

Hm... the only way I know off the top of my head to get around this behavior is to use the Block Select to explicitly choose the next motion point, which disables the return-to-path function.

You might be able to use $NEAR_POSRET to have the PLC disable $MOVE_ENABLE and try to force the operator to use Block Select. Not an elegant solution, but it might serve.

i would be asking question how to prevent operator from using function they are not supposed to use. or at least display prompt to tell them that robot will return to path

Casper Vinding Olesen Could you please explain how you work around this issue?

You've already seen that the post is from 2019!

Quote from Roland Keller

You've already seen that the post is from 2019!

Yes I am hoping to get ideas to solve a similar situation that I am facing

you should take training at KUKA. it would explain BCO and tons of other things that you do not understand yet.

BCO is a function that brings robot onto programmed path. it is automatic and used in every mode except EXT. so if you are letting user run program then robot will always try to stay on path. even if you pause program execution and manually move robot away from path, first thing that robot does is return back to path... to the very point where it left the programmed path. that is the what BCO does and it is a great feature that you want to work around.

so workaround is to make this new position (after manually moving robot away from path) part of the path.

workaround1 is to simply insert or touch up the existing point. this will update current point with new position and pressing Start will simply continue...

workaround2 is to not move robot to that position manually. let robot get to that new position through program. user could for example enter corrections and press start. as long as robot applies those corrections and reaches position on its own, that position is part of the path. so next press on Start will simply continue...