Hi,
In our project, we created a "Teaching Program" for the operator to determine some of the points used during external automatic operation. In the teaching program, the robot manipulator positions itself near the point to be taught and closes the program (with "HALT"). Then, the operator puts the robot in "T1" mode, takes a suitable position relative to the product, and then puts it back in "EXT" mode to run the program. As soon as the robot program starts working again, it saves its current position in a variable and continues this cycle by going to the other area for the next determined position. However, after switching from "T1" mode to "EXT" mode and the program runs, the manipulator naturally moves to the last point when the previous "EXT" mode was turned off, and this is not a movement approach we want. For us, it needs to move in a positive direction at a certain distance perpendicular to the selected "BASE" area and then go to the last point where it was closed in the previous "EXT" mode. I tried many variations for this, including "SPS". For example, I tried to move the robot to the desired position by braking by triggering an "INTERRUPT" on the "SPS" side, but I saw that the program was not in "RUN" mode when returning to the previous position and naturally, "INTERRUPT" was of no use.
Finally, I reviewed the questions and answers asked about this issue in the forum. However, I could not find the appropriate answer to my problem. Is there a way I can program or cancel this rotation movement of the robot? By the way, the program should not be reset. Because there are five points that need to be introduced.
(KUKA KRC4 KSS 8.3.21)