Repositioning (BackToPath)

If the system leaves the specified path, you will need to reposition the system on the path in order to continue the motion. The system leaves the path when the setpoint of the robot controller is deactivated in the "Program is running" or "Program is paused" state. This happens with enable modes "Emergency stop (true-to-path)", "Emergency stop (axis by axis)", and during idle state. The robot then reports a program status of "Repositioning is required". If the setpoint of the motion control is reactivated (enable state "position hold control"), the system is repositioned back on the path at a rising edge at program start.

You can stop repositioning using program pause or, with program start deactivated, using the "Manual high speed" operating mode. You can start repositioning again using program start (program pause and program stop must not be set).

When the program is in the "Program is running" state, repositioning is complete. After repositioning, the program continues automatically. A rising edge at the program start is not required.

During repositioning, all joint axes are repositioned back on the path in a synchronized manner ("point-to-point"). For repositioning, the values specified in the interface for repositioning in the "Joint" tab are used when Setting the motion parameter sets. Motion parameter set 8 is set by default.