RAPID reference manual - Technology

InstructionClearPathRobotWare-OSClearPath - Clear current pathClearPath (Clear Path) clear the whole motion path on the current motion path level(base level or StorePath level).With motion path means all the movement segments from any move instructions whichhas been executed in RAPID but not performed by the robot at the execution time of ClearPath.The robot must be in a stop point position or must be stopped by StopMove before theinstruction ClearPath can be executed.ExampleStart point homeMoveL p1, v500, fine, gripper;pxEnd point p1The robot drops its payload here andexecution continues in the traproutineIn the following program example, the robot moves from the position home to the positionp1. At the point px the signal di1 will indicate that the payload has been dropped.The execution continues in the trap routine gohome. The robot will stop moving (startthe braking) at px, the path will be cleared, the robot will move to position home. Theerror will be raised up to the calling routine minicycle and the whole user defined programcycle proc1 .. proc2 will be executed from beginning one more time.VAR intnum drop_payload;CONST errnum ERR_DROP_LOAD := 1;PROC minicycle()..........proc1;..........ERROR (ERR_DROP_LOAD)RETRY;ENDPROCRAPID reference manual - part 1a, Instructions A-R 35