Resume from same point

    Hi Friends,
    Here in my application when robot moves I pressed emergency or I restart..actually robot should start from where it stopped but sometimes robot skip the current line and moves to next line or instruction.
    So I want if at all anyone pressed emergency or restarted the system it should again run the current point where robot stopped and then only move to next point.


    Br/Neel

    Normally the robot starts from the point he was stopped by e-stop. Are there any error handling procedures in the program? They could prevent the normal way of e-stop handling.


    What is meant by "or I restart"?

    Hi,


    You probaly have a stopevent. Try this in a error handler in the routine where the robot stops:


    StorePath;
    p:= CRobT(\Tool:=tool1);
    ! New temporary movement
    MoveL p1, v100, fine, tool1;
    ...
    MoveL p, v100, fine, tool1;
    RestoPath;
    StartMoveRetry;


    That should do it normally


    Jeroen

Create an account or sign in to comment

You need to be a member in order to leave a comment

Create an account
Sign up for a new account in our community. It's easy!
Register a new account
Sign in
Already have an account? Sign in here.
Sign in Now