RAPID reference manual - Technology

InstructionPathRecMoveBwdPath RecoveryFigure 25 This example shows how the path recorder can be utilized to extract the robotfrom narrow spaces upon error without programming a designated path.A part is being manufactured. At the approach point, p0, the path recorder is startedand given the path recorder identifier safe_id. Assume that when the robot moves fromp3 to p4 and recoverable error arise. At that point, the path is stored by executing Store-Path. By storing the path the error handler can start a new movement and later onrestart the original movement. When the path has been stored the path recorder is usedto move the robot out to the safe position, p0, by executing PathRecMoveBwd.Note that a tool offset is applied to provide clearance from for example a newly addedweld. When the robot has been moved out the operator can do what is necessary to fixthe error (for example clean the torch of welding). Then, the robot is moved back tothe error location by the means of PathRecMoveFwd. At the error location the pathlevel is switched back to base level by RestoPath and a retry attempt is made.Limitations- Movements using the path recorder has to be performed on trap-level, i.e. Store-Path has to executed prior to PathRecMoveBwd.- If it is not desired to return to the point where PathRecMoveBwd was executed(by executing PathRecMoveFwd) the PathRecorder has to be stopped by themeans of PathRecStop.RAPID reference manual - part 1a, Instructions A-R 329