I've recently been testing the Auto Backward Exit function (R861) and in general, it works fine, however during one of the power off tests (while the robot program is running) an attempt to use the macro Do Bwd Exit failed. The robot correctly recreates the saved trajectory, however after reaching the point where it should stop it continued to move back towards the point from which the Do Bwd Exit macro was called. Does anyone use this function as part of a homing routine? Has anyone experienced similar problems in the event of a power failure?
The same macro (Do Bwd Exit), when called from the same program during normal operation, brings the robot back to the expected point and finishes its operation as expected.