Is it possible to start the main program from line 1? (After a CALL)

    Hi everybody!
    I'm trying to create some auto recovery program but may I'm missing something...
    We have an RJ-3/M6i robot where sadly the operator can take the part in a wrong angle to the fixture and the robot stops with collision detect later in a position.My idea was that I give a numeric value to a register after all the points in the program, and another program can handle the situation by checking that register... for example if the main program is in P[8] than R1=8 than the homerun program knows where the robot is than just jumps to a label and goes back home safely.
    So what I want is when the operator presses a button than the robot goes home, in the right path of course, than restarts the main program.

    I created a macro what is waiting for the cycle stop UI[4] signal (aborting the main program) and when the button is held down for 2 sec calls the homerun prog....and everything works, the robot goes home, the same macro calls the main program, but no matter what I do, the main prog trying to continue from the line it stopped (with collision detect) ... what I'm missing?

    Quote from Fabian Munoz


    moln4r

    What you are doing with the points is fine, pretty much the only way to do it.
    Just keep good track of the steps on that register

    As far as the macro
    Could you tell us what if the system strucutre for your programs (other, PNS, etc)
    How is the structure of your master program ?

    There is no PNS or RSR configured, honestly never used those...Found a link here on the forum to a nice article about the setup, but I can't find Program Select Mode in the sys/settings... maybe I'm in an older version.The robot is from 1999, v6.30 if I remember right.

    Quote from Fabian Munoz


    What controller is it ?,

    Just to be clear, if you select MENU, SETUP, do you get another pop up that reads Prog Select ? In case you do, what do you get when you select that ?

    How do you your program selection ? You do it manually or you have a PLC ?

    RJ-3 controller, I don't remember any "prog select" in the setup menu but I will check tomorrow.Program selection goes manually so
    I start the main program, than if it stops for any reason, the operator need to hold down the stop button (CSTOPI not hold) what is triggering a macro, what calls the homerun program, than calls the main program again.Also tried to call the main program directly from the homerun prog but no luck....

    And also there was a try to change the problematic position a PR and set the PR in the homerun program like -->
    Main prog example:

    10 PR [10]=P[8]
    11 L PR [10] 200mm/s fine

    So this way if the main program runs, than it goes to the problematic position.(P8)
    But.
    If the Homerun program triggered by the macro it sets
    PR [10]=P[1] (P1 is the same position in both homerun and main)
    So the homerun program sets PR10 to the same position (home)
    What I tried to do with this is:
    Main prg Coll detect on line 11 what is PR[10] -->
    Macro triggers by operator, sends the robot to home position than sets PR[10] to the same position (home)
    Main prog continue in line 11, where PR[10] is the same pos where the robot is, so goes to line 12 where I can send the main prog to label1 (line1) with an IF statement and a register set by homerun program like:
    Homerun prg:
    R[2]=1
    Main Prg Continues:
    11 PR [10] 200mm/s Fine
    12 IF R[2]=1 JMP LBL [1]
    But looks like when the main program coninues, it sets PR[10] Back to P[8] ...
    So PRs are not global values?At that point I got really confused....

    Edited once, last by moln4r (December 7, 2016 at 10:28 PM).

    These are two examples, maybe from here you can solve your problem.
    There are many ways to do the recovery for automatic. These are just basic ideas
    I believe I's already answer this question with many more details

    The only "problem" I see with my method is that after you run the macro, you (manually) have to call the main.


    PROG_A PROG_B
    ' '
    PR[1]=P(1) PR[1]=P(1)
    PR[2]=P(2) PR[2]=P(2)
    PR[3]=P(3) PR[3]=P(3)
    PR[4]=P(4) '
    PR[5]=P(5) L P(1)
    ' R[1] = 1
    L P(1) L P(2)
    R[1] = 1 R[2] = 2
    L P(2) L P(3)
    R[1] = 2 R[1] = 3
    L P(3) END
    R[1] = 3
    L P(4)
    R[1] = 4
    L P(5)
    R[1] = 5
    END


    MACRO_A MACRO_B
    IF R[1]= 1 JMP LBL (1) IF R[1]= 1 JMP LBL (1)
    IF R[1]= 2 JMP LBL (2) IF R[1]= 2 JMP LBL (2)
    IF R[1]= 3 JMP LBL (3) IF R[1]= 3 JMP LBL (3)
    IF R[1]= 4 JMP LBL (4) '
    IF R[1]= 5 JMP LBL (5) LBL 1
    ' L PR[1]
    LBL 1 JMP LBL(99)
    L PR[1] '
    JMP LBL(99) LBL 2
    ' L PR[2]
    LBL 2 JMP LBL(1)
    L PR[2] '
    JMP LBL(1) LBL 3
    ' L PR[2]
    LBL 3 JMP LBL(2)
    L PR[3] '
    JMP LBL(2) LBL(99)
    ' END
    LBL 4
    L PR[4]
    JMP LBL(3)
    '
    LBL 5
    L PR[4]
    JMP LBL(99)
    '
    '
    LBL(99)
    END

    Retired but still helping

    Edited once, last by Fabian Munoz (December 8, 2016 at 12:51 PM).

    Yes, thank you for the help, this part is done, and it's working fine, the problem is after this, when i call the main program, it's not starts from line 1.
    Also you can't use Positions in macros, at least not on rj3ib v6.30 for sure.Thats why I have the Homerun program.Thanks anyway!

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