I am working on a project with a robot and no PLC, so the robot will be functioning in AUT mode and the controller handling all the safety and inputs/outputs.
The question I have is how to perform an action after an emergency stop (internal or external). I want the controller to restart the program or make it jump to a known state so that I can restart the motion safely instead of it continue moving immediately after the e-stop is acknowledged. I've read this can be done when using a PLC by using the CWRITE command to the CELL program, but that didn't work for me (I may have done it wrong).
Additionally, I would also like for a program to be selected on startup so that an operator doesn't need to interact with the SmartPad for anything, any suggestions for this?