# Restarting after an e/stop  \[PickMaster 3\]

**URL:** <https://tech-community.robotics.abb.com/t/restarting-after-an-e-stop-pickmaster-3/2284>\
**Category:** PickMaster\
**Created:** [November 11, 2008, 1:15pm UTC](https://tech-community.robotics.abb.com/t/restarting-after-an-e-stop-pickmaster-3/2284 "2008-11-11T13:15:44Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Gizmo](https://avatars.discourse-cdn.com/v4/letter/g/7feea3/32.png) [@Gizmo](https://tech-community.robotics.abb.com/u/Gizmo)\
**Post date:** [November 11, 2008, 1:15pm UTC](https://tech-community.robotics.abb.com/t/restarting-after-an-e-stop-pickmaster-3/2284/1 "2008-11-11T13:15:44Z")

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Hi all,

I have two FlexPickers and a 140 in one machine running from PickMaster 3.13 tracking two conveyors.

If the machine is stopped (and then e/stopped) while there is an item on the gripper (i.e, after the pick, but before there is a place position available, then I want to be able to restart by just continuing and placing the item in the appropriate place item position on the conveyor.

If I used the standard template rapid as supplied, then on restarting the robot discards the item. If I comment out Coordinated; and Uncoordinated; in the Pick and Place routines then the item is not discarded, but the robot won’t start from PickMaster. If I try starting it from the teach pendant it wants to do a regain. I don’t know why, because it can sit there for two minutes without moving before stopping it and it still wants to do a regain movement.  
If I say no to regain and try starting again from the teach pendant, it starts up and continues fine.

Surely this is a common scenario? I look forward to a response!

Regards,

Alistair Nicoll

If I could somehow clear the path would that help? But how do you do that if the program can’t start?

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**Author:** ![Mats\_W](https://avatars.discourse-cdn.com/v4/letter/m/df705f/32.png) [@Mats\_W](https://tech-community.robotics.abb.com/u/Mats_W)\
**Post date:** [November 18, 2008, 3:02pm UTC](https://tech-community.robotics.abb.com/t/restarting-after-an-e-stop-pickmaster-3/2284/2 "2008-11-18T15:02:24Z")

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The Coordinated/Uncoordinated is controlling the return to the SafePos.  
I suggest that you keep these calls and take care of the behavior after restart by checking the tool state.  
This is a suggestion:

PROC PickPlace()  
UnCoordinated;  
ConfLOff;  
ConfJOn;  
MoveJ SafePos,VeryLowSpeed,fine,GripperWObj:=wobj0;  
! Check if the tool holds any part and set the flag accordingly.  
IF GOutput(goVacBlow1)=1 THEN  
bRestartPlace:=TRUE;  
ELSE

bRestartPlace:=FALSE;  
SetGO goVacBlow1,0;  
ENDIF  
ConfJOff;  
…

PROC PickPlaceSeq()  
IF bRestartPlace=FALSE THEN  
GoInterMidP IntPosPick1;  
Pick PickIndex{1};  
ENDIF  
GoInterMidP IntPosPlace1;  
Place PlaceIndex{1};  
bRestartPlace:=FALSE;  
ENDPROC

Note that this is a none tested suggestion.

Good Luck  
Mats