Hi,
For example:
Code
MODULE module;
PROC main()
MoveJ Before...;
pick_part;
MoveJ After...;
ENDPROC
PROC pick_part()
MoveJ 1...;
MoveJ pick_point...;
Close_gripper;
SoftAct 1,90;
SoftAct 3,20;
SoftAct 4,20;
SoftAct 5,40;
SoftAct 6,40;
PulseDO\PLength:=2, DO_ejecting;
WaitDI DI_ejecting_ok,1\MaxTime:=10;
ERROR
IF ERRNO=ERR_WAIT_MAXTIME THEN
rToHome;
ENDIF
WaitTime 0.5;
pActual:=CRobT...;
MoveL Offs(pActual,0,0,0)...;
SoftDeact;
ENDPROC
ENDMODULE
Display More
Now, if DI doesn't appear for 10s Error Handler works correctly. PP goes to rToHome routine and robot back to home position. Problem is when DI appears. PP after WaitDI jumps out from the routine and continue in main, not executing instructions after the Error Handler.
Do you have some advice!?