RAPID reference manual - Technology

InstructionProcerrRecoveryAdvanced RAPIDPROC proc_move (robtarget ToPoint, speeddata Speed, zonedata Zone,PERS tooldata Tool)MoveL ToPoint, Speed, Zone, Tool;ERRORIF ERRNO = ERR_PATH_STOP THENtry_no := try_no + 1;IF try_no < 4THENproc_on;StartMoveRetry;ELSERaiseToUser \Continue;ENDIFENDPROCENDMODULEAsynchronously raised errors generated by ProcerrRecovery with switch\SyncLastMoveInst can in this example be treated in the routine proc_move,because all move instructions are always created in the routine proc_move.When program pointer is in routine do_process, the transfer to ERROR handlerwill be delayed until running next MoveL in routine proc_move. Note that themovements are always stopped at once.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.When using predefined NOSTEPIN routine, we recommended to use the optionswitch parameter \SyncLastMoveInst, because then the predefined routine cantake the decision to handle some error situation within the routine, while othermust be handle by the end user.LimitationsSee RAPID kernel reference/Error recovery/Asynchronously raised errors.SyntaxProcerrRecovery[’\’SyncOrgMoveInst] | [’\’SyncLastMoveInst] ’;’RAPID reference manual - part 1a, Instructions A-R 361