RAPID reference manual - Technology

ProcerrRecoveryAdvanced RAPIDInstructionExample with ProcerrRecovery \SyncLastMoveInstMODULE user_modulePROC main()...MoveL p1, v1000, fine, tool1;do_process;...ENDPROCPROC do_process()proc_on;proc_move p2, v200, z10, tool1;proc_move p3, v200, fine, tool1;proc_off;ERRORIF ERRNO = ERR_PATH_STOP THENStorePath;p4 := CRobT(\Tool:=tool1);! Move to service station and fix the problemMoveL p4, v200, fine, tool1;RestoPath;proc_on;ENDIFENDPROCENDMODULEStartMoveRetry;MODULE proc_module (SYSMODULE, NOSTEPIN)VAR intnum proc_sup_int;VAR num try_no := 0;TRAP iprocfailproc_off;ProcerrRecovery \SyncLastMoveInst;ENDTRAPPROC proc_on()SetDO do_proc, 1;CONNECT proc_sup_int WITH iprocfail;ISignalDI di_proc_sup, 1, proc_sup_int;ENDPROCPROC proc_off()SetDO do_proc, 0;IDelete proc_sup_int;ENDPROC360 RAPID reference manual - part 1a, Instructions A-R