I am using the following equipment:
KUKA KRC4 with Profinet-Profisafe (KSS 8.6)
KUKA KR6-900 Robot
S7-1200 F PLC (Tia portal V15.1)
I have started to write the scenarios where the robots stops because of an error (collision monitoring, emergency stop and so on...)
I have a lot of positions where the robot might stop where the first move should be straight up on the Z coordinate in order that the parts don't get damaged. Is there a possibility to execute a PTP move from the current position straight up for 200 mm?
So, a PTP move + actual position + 200 mm only on the Z coordinate
Thanks, in advanced.