I came across a situation using a KRC5 Micro - KR6 R900-2 Agilus with a ForTTran SG 500-20 Force/Torque sensor.
If during a ForceTorqueControl Task the safety barrier is opened I get the following error.
STAND_STILL: Current position and start position STAND_STILL not identical
The problem is that this particular error can not be reset from the PLC and the robot has to be switched to T1, which is a huge inconvenience for the client.
Has anyone encountered this and found any work-arounds?