FlexPendant Operators Manual 3HAC16590 ... - Technology

7 Running in production7.4. Returning the robot to the path7.4. Returning the robot to the pathAbout paths and return regionsWhile a program runs, the robot or additional axis is considered to be on path which meansthat 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 thenconsidered to be off path. However, if the robot is stopped by an emergency or safety stop itmay be off path.If the stopped robot is within the path return region you can start the program again, and therobot will return to the path and continue the program.Note that there is no way to predict the exact return movement for the robot.TIP!The path return region is set with system parameters. This is described in the Technicalreference manual - System parameters.Returning to pathStepAction1. Make sure there are no obstacles blocking the way and that payloads or workobjects are properly placed.2. If necessary, put the system in automatic mode and press the Motors on buttonon the controller to activate the robot’s motors.3. Press the Start button on the FlexPendant to continue the program from where itstopped.One of two thing will happen:• The robot or axis slowly returns to the path and the program continues.• The return to path dialog is displayed.4. If the return to path dialog is displayed, select the proper action.Select actionIf you...want to return to the path and continue theprogramwant to return to the next target position andcontinue the programdon't want to return to the path and continuethe programthen tap...PathPositionCancel2243HAC 16590-1 Revision: B