Basic Characteristics RAPID

Error handling
Example
An error is reported during a search when:
- no signal detection occurred
- more than one signal detection occurred – this generates an error only if the
\Sup argument is used.
Errors can be handled in different ways depending on the selected running mode:
Continuous forward
No position is returned and the movement always continues to the programmed
destination point. The system variable ERRNO is set to ERR_WHLSEARCH
and the error can be handled in the error handler of the routine.
Instruction forward
No position is returned and the movement always continues to the programmed
destination point. Program execution stops with an error message.
Instruction backward
During backward execution, the instruction just carries out the movement without
any signal supervision.
MoveL p10, v100, fine, tool1;
SearchL \Stop, sen1, sp, p20, v100, tool1;
.
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
MoveL p10, v100, fine, tool1;
RETRY;
ENDIF
The robot searches from position p10 to p20. If no signal detection occurs, the
robot moves back to p10 and tries once more.
RAPID Reference Manual 8-SearchL-5