Basic Characteristics RAPID

RestoPath Restores the path after an interrupt
Example
RestoPath is used to restore a path that was stored at a previous stage using the instruction
StorePath.
RestoPath;
Program execution
Example
Restores the path that was stored earlier using StorePath.
The current movement path of the robot and the external axes is deleted and the path
stored earlier using StorePath is restored. Nothing moves, however, until the instruction
StartMove is executed or a return is made using RETRY from an error handler.
ArcL p100, v100, seam1, weld5, weave1, z10, gun1;
...
ERROR
IF ERRNO=AW_WELD_ERR THEN
gun_cleaning;
RETRY;
ENDIF
...
PROC gun_cleaning()
VAR robtarget p1;
StorePath;
p1 := CRobT();
MoveL pclean, v100, fine, gun1;
...
MoveL p1, v100, fine, gun1;
RestoPath;
ENDPROC
In the event of a welding error, program execution continues in the error handler
of the routine, which, in turn, calls gun_cleaning. The movement path being executed
at the time 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 error occurred, p1, and stores the original movement once again. The
weld then automatically restarts, meaning that the robot is first reversed along
the path before welding starts and ordinary program execution can continue.
RAPID Reference Manual 8-RestoPath-1