RAPID reference manual - Technology

InstructionExitCycleRobotWare-OSExitCycle - Break current cycle and start nextExitCycle is used to break the current cycle and move the PP back to the first instructionin the main routine.If the program is executed in continuous mode, it will start to execute the next cycle.If the execution is in cycle mode, the execution will stop at the first instruction in themain routine.ExampleVAR num cyclecount:=0;VAR intnum error_intno;PROC main()IF cyclecount = 0 THENCONNECT error_intno WITH error_trap;ISignalDI di_error,1,error_intno;ENDIFcyclecount:=cyclecount+1;! start to do something intelligent....ENDPROCTRAP error_trapTPWrite “ERROR, I will start on the next item”;ExitCycle;ENDTRAPThis will start the next cycle if the signal di_error is set.Program executionExecution of ExitCycle in a program task controlling mechanical units, results in thefollowing in the MAIN task:- On-going robot movements stops- All robot paths that are not performed at all path levels (both normal and Store-Path level) are cleared- All instructions that are started but not finished at all execution levels (both normaland TRAP level) are interrupted- The program pointer is moved to the first instruction in the main routine- The program execution continues to execute the next cycleRAPID reference manual - part 1a, Instructions A-R 113