Hello, I have one question about reference function of Staubli 6 axis robot, I found a command 'EXECUTE_SAFE_REF', but I do not know what the command logic is. for example: 1. Should I create two reference position points in the robot point list?(same with the reference position1 and reference position2 of the staubli robot) 2. Should I design a route to move the robot to first reference position1, next execute the command 'EXECUTE_SAFE_REF', after that move to second reference position2, then execute the command again? 3. The robot is cotrolled only in remote auto mode, so in the SRS software, only activate the function in automatic mode? or need to select both manual and auto?(see attachment) need your help~ thank you.
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