Hello all,
I have a Kuka with the Arctech package installed and a torch with a collision sensor. When the torch collision sensor is activated the robot stops and only allows manual jogging. (this is a function of the arctech package)
Normal procedure after a collision would be:
- grab the teach pendant
- set mode to T1
- jog the robot away from the workpiece
- confirm the collision message
- reselect cell.src to restart the program
- set mode to EXT again
This is simply not going to work for my customer because the people who have to operate the machine are not robot operators, but welders, who are taught how to press a start button on a machine...
Is there a way to automatically move the robot to home when the torch collision sensor is activated? Normally you don't want to do this because of the obvious risk but in this case the robot can always safely move to the home pos is the collision sensor is activated during welding. Right now I don't think this is possible because the robot only allows manual jogging when the collision sensor is activated, do I need to change some arctech subroutines?
Robot: KR8 R1100 arc HW with KRC5 controller