Automatic Recovery

    Gday Guys,

    I have had a look at the other automatic recovery discussions, but wished to start a new one.

    I have an application where the robot is working stretched out, and on uneven and dyanamic objects. I have done lots of work to better understand motion supervision, and have a good grasp of it, but the problem is I still get 'Joint Collisions' or 'Joint Overtorque' during machine operation, which understandably stops dead on the MoveL line of code.

    What I am after is a neat solution to raise an error when the robot has a motion fault (either motion supervision, joint overtorque etc.) to run a handler. This would then set a flag, as well as execute the TRYNEXT command. The goal is to be able to skip the robot move line of code that cause the error.

    I have investigated IERROR, with many internal ABB error domains. I have connected all of the available ABB errors, including MOTION_ERR, but it is not run on a joint overtorque.

    So in summary:

    -ABB Rapid execution stops dead during a 'serious' motion fault
    -I am after a solution to successfully continue the RAPID from its current program pointer location (and not have to start from main and re-navigate to where I was)
    -This would probably involve an error handler and TRYNEXT
    -If the robot knows it has had an overload, why cant it be programmed to continue (e.g. skip the line, move away, continue)
    -I have a PLC to help, and multitasking

    Hope this wasn't too much to read. Cheers guys.

    Using Multitasking software option you can do the following,

    Capture when a Motor supervision is tripped (system output)
    Reset the error (system input)
    Do some sort of path recovery (up to you)
    Restart the controller (system input)

    You will definitely want to use flags and/or capture the current robot position so as to not activate the multitask at all motor supervisions and just the ones critical to your application.

    I know this can be done as I've done it on both an S4C and an IRC5.
    All solved with multitasking and system inputs and outputs :yesyesyes:

    Good luck

    Gday BigM

    Many thanks for your prompt reply!

    I understand what you mean, which I can see would work for a motion supervision as you can make use of the system output, and catch it, and recover how you wish.

    What I think I still need though is the same ability for joint overloads / over-torques, and if dealt with smoothly, allowing the program to continue it's sequence (after a small move to fix the issue that cause the joint problem to start with). This is the difficult part - skipping the line that caused the overload, and continuing on.

    My application involves a robot doing multiple drills in to some dirt, lets say 8 in total. If I have a joint overload on number 5, I would like the robot to be able catch the joint problem, move up and clear, then continue in RAPID to drill 6, either either with multitasking or a PLC. This is why I was hoping to use and IERROR and TRYNEXT.

    Lastly, why did you mention restarting the controller? I was hoping for a seamless fix that can continue operation with little delay :smiling_face:

    Thanks!!!!

    Sorry, that's a bit of a typo.
    I mean Start and not 'Restart' the controller.

    Well you could set a flag only during the drilling part and use the multitask to capture an error (sys input) and then back up along the path.
    Coordinating your main task and multitask, you could use it to skip over the drilling of that hole to move onto the next one.

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