RAPID reference manual - Technology

IODisableRobotWare-OSInstructionError handlingFollowing recoverable errors can be generated. The errors can be handled in an errorhandler. The system variable ERRNO will be set to:ERR_IODISABLEERR_CALLIO_INTERERR_NAME_INVALIDif the time out time runs out before the unit isdisabled.if an IOEnable or IODisable request is interruptedby another request to the same unit.if the unit name don’t exist or if the unit isn’tallowed to be disabled.ExamplePROC go_home()VAR num recover_flag :=0;...! Start to disable I/O unit cell1recover_flag := 1;IODisable “cell1”, 0;! Move to home positionMoveJ home, v1000,fine,tool1;! Wait until disable of I/O unit cell1 is readyrecover_flag := 2;IODisable “cell1”, 5;...ERRORIF ERRNO = ERR_IODISABLE THENIF recover_flag = 1 THENTRYNEXT;ELSEIF recover_flag = 2 THENRETRY;ENDIFELSEIF ERRNO = ERR_EXCRTYMAX THENErrWrite “IODisable error”, “Not possibleto disable I/O unit cell1”;Stop;ENDIFENDPROCTo save cycle time, the I/O unit cell1 is disabled during robot movement to thehome position. With the robot at the home position, a test is done to establishwhether or not the I/O unit cell1 is fully disabled. After the max. number of retries(5 with a waiting time of 5 s), the robot execution will stop with an error message.The same principle can be used with IOEnable (this will save more cycle timecompared with IODisable).170 RAPID reference manual - part 1a, Instructions A-R