RAPID reference manual - Technology

InstructionProcerrRecoveryAdvanced RAPIDPROC do_process()my_proc_on;MoveL p2, v200, z10, tool1;MoveL p3, v200, fine, tool1;my_proc_off;ERRORIF ERRNO = ERR_PATH_STOP THENmy_proc_on;StartMove;RETRY;ENDIFENDPROCTRAP iprocfailmy_proc_off;ProcerrRecovery \SyncOrgMoveInst;ENDTRAPPROC my_proc_on()SetDO do_myproc, 1;CONNECT proc_sup_int WITH iprocfail;ISignalDI di_proc_sup, 1, proc_sup_int;ENDPROCPROC my_proc_off()SetDO do_myproc, 0;IDelete proc_sup_int;ENDPROCENDMODULEAsynchronously raised errors generated by ProcerrRecovery with switch\SyncOrgMoveInst can in this example be treated in the routine do_process,because the path on which the error occurred is always created in the routinedo_process.A process flow is started by setting the signal do_myproc to 1. The signaldi_proc_sup supervise the process, and an asynchronous error is raised ifdi_proc_sup becomes 1. In this simple example, the error is resolved by settingdo_myproc to 1 again before resuming the movement.RAPID reference manual - part 1a, Instructions A-R 359