RAPID reference manual - Technology

PathRecStopPath RecoveryInstructionENDPROCMoveL p4, vmax, z50, tool1;MoveL p2, vmax, z50, tool1;PathRecStart id2;MoveL p5, vmax, z50, tool1;MoveL p6, vmax, z50, tool1;StorePath;PathRecMoveBwd \ID:=id1;RestoPath;PROC example2()PathRecStart id1;MoveL p1, vmax, z50, tool1;MoveL p2, vmax, z50, tool1;PathRecStop;MoveL p3, vmax, z50, tool1;MoveL p4, vmax, z50, tool1;PathRecStart id2;MoveL p2, vmax, z50, tool1;MoveL p5, vmax, z50, tool1;MoveL p6, vmax, z50, tool1;StorePath;PathRecMoveBwd \ID:=id1;RestoPath;ENDPROCThe above examples describes recording of the robot path when the recording isstopped in the middle of the sequence. In example1 the PathRecMoveBwd \ID:=id1;order is valid and the robot will execute the following path: p6 -> p5 -> p2 -> p1 -> p0The reason for that the order is valid is due to that the recorder was stopped and startedin the exact same robot position. If this behavior isn’t desirable the stop order shouldinclude the optional argument Clear. In that way the recorded path will be cleared andit will never be possible to back-up to previous path recorder identifiers.340 RAPID reference manual - part 1a, Instructions A-R