Returning The Robot To The Path - ABB OmniCore S Series Operating Manual

7.2.4 Returning the robot to the path

About paths and return regions
While a program is running, the robot or additional axis is considered to be on
path, which means that it follows the desired sequence of positions.
If you stop the program the robot is still on path, unless you change its position.
It is then considered to be off path. If the robot is stopped by an emergency or
safety stop it may also be off path.
If the stopped robot is within the path return region you can start the program again,
and the robot will return to the path and continue program execution.
Note that there is no way to predict the exact return movement for the robot.
Returning to path
Turning off the power to the robot motors often results in the robot slipping from
its programmed path. This may occur after an uncontrolled emergency or safety
stop. The allowed slip distance is configured with system parameters. The distance
can be different depending on operating mode.
If the robot is not within the configured allowed distance, you may choose to let
the robot return to the programmed path or continue to the next programmed point
in the path. Then the program execution continues automatically in programmed
speed.
Operating manual - OmniCore
3HAC065036-001 Revision: E
Tip
The path return region is set with system parameters, see Technical reference
manual - System parameters, Type Path Return Region.
Note
On YuMi robots with SafeMove, axes 5 and 6 can drop slightly when releasing
the enabling device, because there are no brakes on these axes. There is a risk
that mounted tools or workpieces are damaged.
1 Make sure there are no obstacles blocking the way and that payload and
work objects are properly placed.
2 If necessary, put the system in automatic mode and press the Motors on
button on the controller to activate the robot motors.
3 Press the Start button on the FlexPendant to continue execution from where
it stopped. One of these things will happen:
• The robot or axis slowly returns to the path and the execution continues.
• The Regain Request dialog will be displayed.
4 If the Regain Request dialog is displayed, select the proper action.
• Tap Yes to return to the path and continue the program.
• Tap No to return to the next target position and continue the program.
• Tap Cancel to cancel the program.
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7.2.4 Returning the robot to the path
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