- In "Auto Ext" you don't need to do BCO after selecting a program. There is a message on Smartpad, but you can ignore it.
- There is no automatic selection of Cell or any other program, but you can write your own code in SPS.SUB to do this. This is discussed here in the forum not only once. Feel free to create your own signals and logic to do that.
As a starting point use:
ThreadHow to reset the running program automatically in Ext through PLC?
robot:KR10 R900 Sixx
contorller:KRC4
If the operator push emergency stop button while robot is working, after reset the button ,in standard,we need to make robot back to home position safe and then wait next start cycle,
but how we can make robot jump out the program he is running and enter the cell program to wait PGNO ?sky12138March 13, 2018 at 3:10 AM - you can do a ptp $axis_act (or $pos_act) and run your recovery routine, shouldn't be a problem, except the collision problem. In this case you have to be carefull and pay attention on every step of your program selection and recovery routine.
Thanks Herman,
I got it going using your Cell.src interupt code from the thread you attached.. It works very well for what I need.
Regards!