I am using RSI from a PC interface to control my Kuka robot, and a big issue I have not been able to solve is that I cannot start up the RSI communication from sps, and so every time there is a fault or EStop that stops the program with RSI commands, I lose communication with the robot controller, leaving me unable to do something as useful as reset errors and start the program again from the same interface.
Are there any ideas for getting RSI to be always running, and better yet, to be able to do automatic external commands over the same interface? I'd rather not have to have two separate communication interfaces if I can get away with it, but thus far I have had to have my RSI ethernet in addition to discrete IO on the ethercat extension bus.
It doesn't help that I don't have any experience with doing "normal" things with Kuka robots -- we switched from ABB to Kuka for the sake of RSI and don't have any reason to do normal applications.