KR10 R1100 Agilus-2's (x2)
Query / Issue:
The cell in essence shares a workpiece via GEOLink within RoboTeam and "picks to places" an engine component. If at any stage a safety protocol is interrupted ( E-Stop / Floor scanner / Airskin ) then the cell Stops, waits for a RESET then resumes. ( Great )......However......if activating a Superposed ForceTorque Task to Velocity control a programmed path motion ( on detection of a load set the $OV_PRO = 0 via the task parameters ) , if a safety protocol is once again interrupted, we can of course RESET the safety, but the KCP displays the following message:
Stop by $CORRECTION function ( reset or block selection required)
I have via reading the RSI manual v4.1 come to conclusion this is to do with RSI and a bi-product to using the TASK within the TorceTorque package.
I have since spoken to KRUK and they advise on reducing external correction inputs next time......( I'm still exchanging emails to progress this meaning)
I recall seeing on the forum some time ago about a means to utilising the IR_STOPM to cancel this inhibitor message / condition and to allow for a controlled restart.?.
Ultimately, having to go into T1 and Reset the .SRC while load sharing a workpiece is a trap door within itself for recovery that I just can't seem to feel is Kuka's only way around this scenario or set up.
Anyone with any ideas would greatly be appreciated.