The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: ⋅providing at least one manipulator program, wherein the manipulator program comprises several operations; ⋅combining at least two of the operations to form at least one operation structure; ⋅defining at least one placement point (AP1, AP2), wherein the at least one placement point (AP1, AP2) forms the start andor the end of an operation structure (310); ⋅providing at least one reaction structure (320) and assigning the reaction structure (320) to an operation structure (310), wherein tlte at least one reaction structure (320) contains reaction operations (R1 to Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (AP1, AP2); ⋅executing the manipulator program and, if an error occurs, ⋅executing the reaction structure (320) such that the manipulator system is transferred into a system stare which corresponds to a placement point (AP1, AP2).

The invention relates to a method for correcting errors in a manipulator system, wherein the manipulator system comprises at least one manipulator and is controlled by means of at least one manipulator program, wherein the method comprises the following method steps: ?providing at least one manipulator program, wherein the manipulator program comprises several operations; ?combining at least two of the operations to form at least one operation structure; ?defining at least one placement point (AP1, AP2), wherein the at least one placement point (AP1, AP2) forms the start andor the end of an operation structure (310); ?providing at least one reaction structure (320) and assigning the reaction structure (320) to an operation structure (310), wherein tlte at least one reaction structure (320) contains reaction operations (R1 to Rn), upon the execution of which, the manipulator program controls the manipulator system such that it is passed into a system state which corresponds to a placement point (AP1, AP2); ?executing the manipulator program and, if an error occurs, ?executing the reaction structure (320) such that the manipulator system is transferred into a system stare which corresponds to a placement point (AP1, AP2).

A power system includes main circuit interrupters each having a load output, feeder circuit interrupters, a number of tie circuit interrupters, and a circuit. The circuit is structured to block communication, at least when at least one of the tie circuit interrupters has an open state between a first and a second of the main circuit interrupters, of a zone selective interlocking output of one of the feeder circuit interrupters having a line input electrically connected to the load output of the first main circuit interrupter to a zone selective interlocking input of the second main circuit interrupter, and of a zone selective interlocking output of a different one of the feeder circuit interrupters having a line input electrically connected to the load output of the second main circuit interrupter to a zone selective interlocking input of the first main circuit interrupter.