RAPID reference manual - Technology

InstructionProcerrRecoveryAdvanced RAPIDProcerrRecovery - Generate and recover from process-moveerrorProcerrRecovery can be used to generate process error during robot movement andget the possibility to handle the error and restart the process and the movement froman ERROR handler.ExampleThe examples below are not realistic, but shown for pedagogic reason.MoveL p1, v50, z30, tool2;ProcerrRecovery \SyncOrgMoveInst;MoveL p2, v50, z30, tool2;ERRORIF ERRNO = ERR_PATH_STOP THENStartMove;RETRY;ENDIFThe robot movement is stop on it’s way to p1 and the program execution is transferto the ERROR handler in the routine that created the actual path on whichthe error occurred, in this case the path to MoveL p1. The movement is restartedwith StartMove and the execution is continued with RETRY.MoveL p1, v50, fine, tool2;ProcerrRecovery \SyncLastMoveInst;MoveL p2, v50, z30, tool2;ERRORIF ERRNO = ERR_PATH_STOP THENStartMove;RETRY;ENDIFThe robot movement is stop at once on it’s way to p2 and the program executionis transfer to the ERROR handler in the routine where the program currentlyis executing or are going to execute a move instruction when the erroroccurred, in this case MoveL p2. The movement is restarted with StartMove andthe execution is continued with RETRY.RAPID reference manual - part 1a, Instructions A-R 357