RAPID reference manual - Technology

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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
ProcerrRecoveryAdvanced RAPIDInstructionRelated informationDescribed in:Error handlersAsynchronously raised errorsPropagates an error to user levelResume movement and programBasic Characteristics - Error RecoveryRAPID kernel reference - Error recoverInstruction - RaiseToUserInstruction - StartMoveRetry execution362 RAPID reference manual - part 1a, Instructions A-R
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RAPID reference manualRAPID referen
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The information in this manual is s
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ContentsEOffsOff - Deactivates an o
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InstructionAccSetRobotWare-OSAccSet
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InstructionActUnitRobotWare-OSActUn
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AddRobotWare-OSInstructionRelated i
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AliasIOAdvanced RAPIDToSignalData t
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AliasIOAdvanced RAPIDInstruction10
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“:=”RobotWare-OSInstructionLimi
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BitClearAdvanced RAPIDInstructionLi
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BitSetAdvanced RAPIDInstructionLimi
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BookErrNoAdvanced RAPIDInstructionL
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BreakRobotWare-OSInstruction20 RAPI
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CallByVarRobotWare-OSInstructionDyn
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CallByVarRobotWare-OSInstruction24
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CancelLoadRobotWare-OSInstructionSy
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CirPathModeRobotWare-OSInstructionU
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CirPathModeRobotWare-OSInstructionL
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ClearRobotWare-OSInstruction32 RAPI
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ClearIOBuffFile and Serial Channel
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ClearPathRobotWare-OSInstructionPRO
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ClearRawBytesFile and Serial Channe
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ClkResetRobotWare-OSInstruction40 R
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ClkStartRobotWare-OSInstructionErro
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ClkStopRobotWare-OSInstructionRelat
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CloseFile and Serial Channel Handli
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CloseDirFile and Serial Channel Han
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commentRobotWare-OSInstruction50 RA
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Compact IFRobotWare-OSInstruction52
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ConfJRobotWare-OSInstructionProgram
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ConfLRobotWare-OSInstructionProgram
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ConfLRobotWare-OSInstruction58 RAPI
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InstructionCopyFileFile and Serial
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InstructionCopyRawBytesFile and Ser
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InstructionCopyRawBytesFile and Ser
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InstructionCorrClearPath offset & R
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CorrConPath offset & RobotWare-Arc
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InstructionCorrWritePath offset & R
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InstructionDeactUnitRobotWare-OSDea
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InstructionDecrRobotWare-OSDecr - D
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InstructionDitherActRobotWare-OSDit
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InstructionDitherActRobotWare-OSRel
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InstructionDitherDeactRobotWare-OSD
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InstructionDropSensorSensor Synchro
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InstructionDropWObjConveyor Trackin
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InstructionEOffsOffRobotWare-OSEOff
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InstructionEOffsOnRobotWare-OSEOffs
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InstructionEOffsSetRobotWare-OSEOff
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InstructionEraseModuleRobotWare-OSE
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InstructionErrLogAdvanced RAPIDErrL
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InstructionErrLogAdvanced RAPIDArgu
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InstructionErrRaiseAdvanced RAPIDEr
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InstructionErrRaiseAdvanced RAPIDAr
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InstructionErrWriteRobotWare-OSErrW
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InstructionEXITRobotWare-OSEXIT - T
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InstructionExitCycleRobotWare-OSExi
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InstructionFORRobotWare-OSFOR - Rep
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InstructionFORRobotWare-OSSyntax(EB
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InstructionGetDataValAdvanced RAPID
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InstructionGetSysDataRobotWare-OSGe
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InstructionGetTrapDataAdvanced RAPI
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InstructionGOTORobotWare-OSGOTO - G
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InstructionGripLoadRobotWare-OSGrip
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InstructionHollowWristResetRobotWar
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InstructionIDeleteRobotWare-OSIDele
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InstructionIDisableRobotWare-OSIDis
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InstructionIEnableRobotWare-OSIEnab
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InstructionIErrorAdvanced RAPIDIErr
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InstructionIErrorAdvanced RAPIDLimi
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InstructionIFRobotWare-OSIF - If a
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InstructionIncrRobotWare-OSIncr - I
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InstructionIndAMoveIndependent Axis
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InstructionIndCMoveIndependent Axis
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InstructionIndCMoveIndependent Axis
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InstructionIndDMoveIndependent Axis
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InstructionIndResetIndependent Axis
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InstructionIndResetIndependent Axis
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InstructionIndRMoveIndependent Axis
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InstructionInvertDORobotWare-OSInve
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InstructionIODisableRobotWare-OSIOD
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InstructionIODisableRobotWare-OSSyn
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InstructionIOEnableRobotWare-OSIOEn
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InstructionIOEnableRobotWare-OSRela
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InstructionIPersAdvanced RAPIDIPers
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InstructionISignalAIAnalog Signal I
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InstructionISignalAOAnalog Signal I
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InstructionISignalAOAnalog Signal I
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InstructionISignalDIRobotWare-OSISi
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InstructionISignalDIRobotWare-OSLim
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InstructionISignalDORobotWare-OSISi
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InstructionISignalDORobotWare-OSLim
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InstructionISignalGIRobotWare-OSISi
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InstructionISignalGIRobotWare-OSSyn
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InstructionISignalGORobotWare-OSISi
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InstructionISignalGORobotWare-OSRel
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InstructionISleepRobotWare-OSISleep
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InstructionIsPersBase WareIsPers -
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InstructionITimerRobotWare-OSITimer
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InstructionITimerRobotWare-OSRelate
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InstructionIVarValueSensor Interfac
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InstructionIVarValueSensor Interfac
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InstructionIWatchRobotWare-OSIWatch
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InstructionlabelRobotWare-OSlabel -
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InstructionLoadRobotWare-OSLoad - L
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InstructionLoadRobotWare-OS%”rout
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InstructionLoadIdRobotWare-OSLoadId
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InstructionLoadIdRobotWare-OSArgume
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InstructionLoadIdRobotWare-OSExampl
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InstructionMakeDirFile and Serial C
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InstructionManLoadIdProcRobotWare-O
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InstructionManLoadIdProcRobotWare-O
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InstructionMechUnitLoadRobotWare-OS
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InstructionMechUnitLoadRobotWare-OS
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InstructionMotionSupCollision Detec
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InstructionMotionSupCollision Detec
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InstructionMoveAbsJRobotWare-OSMove
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InstructionMoveAbsJRobotWare-OS[ \Z
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InstructionMoveAbsJRobotWare-OSSing
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InstructionMoveCRobotWare-OSMoveC -
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InstructionMoveCRobotWare-OS[ \V ]
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InstructionMoveCRobotWare-OSMoveC p
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InstructionMoveCDORobotWare-OSMoveC
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InstructionMoveCDORobotWare-OS.CirP
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InstructionMoveCSyncFixed Position
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InstructionMoveCSyncFixed Position
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InstructionMoveExtJRobotWare-OSMove
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InstructionMoveExtJRobotWare-OSExam
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InstructionMoveJRobotWare-OSMoveJ -
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InstructionMoveJRobotWare-OS[ \WObj
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InstructionMoveJDORobotWare-OSMoveJ
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InstructionMoveJDORobotWare-OSMoveJ
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InstructionMoveJSyncFixed Position
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InstructionMoveJSyncFixed Position
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InstructionMoveLRobotWare-OSMoveL -
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InstructionMoveLRobotWare-OS[ \WObj
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InstructionMoveLRobotWare-OSRelated
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InstructionMoveLDORobotWare-OSMoveL
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InstructionMoveLDORobotWare-OSsigna
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InstructionMoveLSyncFixed Position
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InstructionMoveLSyncFixed Position
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InstructionMToolRotCalibRobotWare-O
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InstructionMToolRotCalibRobotWare-O
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InstructionMToolTCPCalibRobotWare-O
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InstructionMToolTCPCalibRobotWare-O
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InstructionOpenFile and Serial Chan
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InstructionOpenFile and Serial Chan
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Page 324 and 325: InstructionPackRawBytesFile and Ser
Page 330 and 331: InstructionPathAccLimRobotWare-OSPa
Page 332 and 333: InstructionPathAccLimRobotWare-OSEx
Page 334 and 335: InstructionPathRecMoveBwdPath Recov
Page 336 and 337: InstructionPathRecMoveBwdPath Recov
Page 338 and 339: InstructionPathRecMoveFwdPath Recov
Page 340 and 341: InstructionPathRecMoveFwdPath Recov
Page 342 and 343: InstructionPathRecStartPath Recover
Page 344 and 345: InstructionPathRecStartPath Recover
Page 346 and 347: InstructionPathRecStopPath Recovery
Page 348 and 349: InstructionPathRecStopPath Recovery
Page 350 and 351: InstructionPathResolRobotWare-OSPat
Page 352 and 353: InstructionPathResolRobotWare-OSRel
Page 354 and 355: InstructionPDispOffRobotWare-OSPDis
Page 356 and 357: InstructionPDispOnRobotWare-OSPDisp
Page 358 and 359: InstructionPDispOnRobotWare-OSexecu
Page 360 and 361: InstructionPDispSetRobotWare-OSPDis
Page 362 and 363: InstructionPDispSetRobotWare-OSRela
Page 364 and 365: InstructionProcerrRecoveryAdvanced
Page 366 and 367: InstructionProcerrRecoveryAdvanced
Page 370 and 371: InstructionProcCallRobotWare-OSProc
Page 372 and 373: InstructionPulseDORobotWare-OSPulse
Page 374 and 375: InstructionPulseDORobotWare-OSLimit
Page 376 and 377: InstructionRAISERobotWare-OSRAISE -
Page 378 and 379: InstructionRaiseToUserRobotWare-OSR
Page 380 and 381: InstructionRaiseToUserRobotWare-OST
Page 382 and 383: InstructionReadAnyBinFile and Seria
Page 384 and 385: InstructionReadAnyBinFile and Seria
Page 386 and 387: InstructionReadBlockSensor Interfac
Page 388 and 389: InstructionReadCfgDataAdvanced RAPI
Page 390 and 391: InstructionReadErrDataAdvanced RAPI
Page 392 and 393: InstructionReadErrDataAdvanced RAPI
Page 394 and 395: InstructionReadRawBytesFile and Ser
Page 396 and 397: InstructionReadRawBytesFile and Ser
Page 398 and 399: InstructionRemoveDirFile and Serial
Page 400 and 401: InstructionRemoveFileFile and Seria
Page 402 and 403: InstructionRenameFileFile and Seria
Page 404 and 405: InstructionResetRobotWare-OSReset -
Page 406 and 407: InstructionRestoPathPath RecoveryRe
Page 408 and 409: InstructionRETURNRobotWare-OSRETURN
Page 410 and 411: InstructionRewindFile and Serial Ch
Page 412 and 413: InstructionRETRYRobotWare-OSRETRY -
Page 414 and 415: IndexAacceleration reduction 1, 323
Page 416 and 417: IndexRemoveDir 391RemoveFile 393rep
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ABB Automation Technologies ABRobot
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RAPID reference manual - Technology

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