Hi guys,
Hope you re doing well, so I have already a cell in production based on kuka agilus 2 controller krc4 small size2, also the cell using an ethercat coupler with 16Di and 16DO. I added a submit program to monitor my reset button in T1 mode, the main function of my sub file is when the operator press in random position of the robot, it will return at home position. But the problem is what I can use to make sure when the robot will return safely at the home position from a random position. Note the robot is used to feed the pieces to CNC machine.
Thanks,