Detect if robot is out of the path

    Hi,

    I think the problem I want to solve is very common, so I hope you could help me.

    I would like to detect if the robot was manually moved to avoid restarting the program from a position out of the path of the program.

    I want to detect it in the PLC to interlock the restarting signal. I have been checking the SYSTEM VARIABLE LISTING but I didn't find a variable to know if the robot is in a position of the path of the program. Maybe, I have overlooked it.

    So, if an operator get into the cell and he needs to move manually the robots, I would like he to return it into the path using STEP BWD or FWD to be sure the robot won't collide after restarting the auto mode.

    Thanks a lot.

Advertising from our partners