I'm here again for help from this awesome community.
I'm trying to write an automatic recovery procedure for a Kawasaki RS013N robot. When a user presses the emergency stop, a PC program checks if the same is released and if so, it executes a routine to turn on the motors again and start the cycle.
WARNING: Automatically turning on the motor in an industrial robotics setting should be done with all due safety and after ensuring safe working conditions, especially for the human operators that might be in the robotic cell: e.g., no human operator should be in the workspace of the robot when the motor is turned on!
I have been looking at the manuals for a day now and cannot find a proper way to do it. I found the SWITCH command to see if the motor power is off with POWER or if an ERROR is ongoing... Also, the ZPOWER command to turn on/off the motors. Even though I am not able to use ZPOWER in my robot programs. It gives the errors "Cannot use in current mode." or "Cannot use in Robot Program.".
I'm very confused and it is tiring to look at the manuals without proper explanations. I would be grateful if someone could explain to me the suggested procedures for the following:
- How to catch from a program, if E-Stop is pressed or released.
- How to restart automatically a program that has been stopped... Hence, switch on the motors and restart the cycle.
Thank you so much in advance.