KRC5 Aut mode

AUT or EXT? The $DRIVES_ON and $PRO_START signals don't work in AUT mode, as far as I'm aware. They also don't have anything to do with resuming a program after a safety stop.

If the robot has been safety-stopped, the program pointer should be untouched, so the robot should resume the program where it was interrupted once the drives are on and the program is started.

HOWEVER, the robot will usually try to return to the physical location where it was stopped first. There is also a path-resume tolerance ($NEARPATHTOL). If the robot is outside that tolerance, it will require a manual BCO by running to the next programmed point in Teach before AUT or EXT can be resumed.

The system variable $NEAR_POSRET is True when the robot is close enough to resume the interrupted path, and False when not.

Thats not what AUT mode is for. For this there is EXT or only stop the robot without loosing drives when your light curtain is hit. The latter might not be allowed due to safety regulations.

Fubini

Quote from GriF

resume from where it left off without needing to touch the teach pendant, by activating the drives with the start button.

In AUT mode, the only way to start the robot is to use the Start button on the pendant. What button are you using to start the robot?

Quote from GriF

Hello,

I am running the robot in AUT mode, and there is an issue I need to resolve. When the robot is given the start command and it's in operation, if it enters the light barrier, the robot correctly engages its safety protocols and stops.

not supposed to run into area that is not cleared but - at least the safety works.

Quote from GriF

After moving away from the light barrier and pressing the start button again, I want the robot to continue from where it stopped.

how do you move it away? you must be changing mode to T1 and jogging. Are you aborting program?

What do you mean by continue from where it stopped? if program was not aborted, and you just jogged away, next time you press Start it will do a BCO to a place where it was on path and continue running same program (or try since this is protected by light barrier)

Quote from GriF

I attempted to synchronize the $DRIVES_ON signal with the start button signal, but I couldn't manage to make it work. Is there a way to achieve this?

You need to acknowledge/clear any errors, enable drives, make sure to change mode back to AUT and then press Start.

or... don't use AUT mode. add PLC and configure robot to use EXT mode. then on a press of a button (not smartPad), PLC can tell robot to acknowledge messages, enable drives and run.