RAPID reference manual - Technology

RestoPathPath RecoveryInstructionIn the event of a welding error, program execution continues in the error handler of theroutine, which, in turn, calls gun_cleaning. The movement path being executed at thetime is then stored and the robot moves to the position pclean where the error is rectified.When this has been done, the robot returns to the position where the erroroccurred, p1, and stores the original movement once again. The weld then automaticallyrestarts, meaning that the robot is first reversed along the path before weldingstarts and ordinary program execution can continue.LimitationsOnly the movement path data is stored with the instruction StorePath. If the user wants to order movements on the new path level, the actual stop positionmust be stored directly after StorePath and before RestoPath make a movement to thestored stop position on the path.SyntaxRestoPath‘;’Related informationDescribed in:Storing pathsInstructions - StorePath400 RAPID reference manual - part 1a, Instructions A-R