RUN and UALM

    Hi,
    I would use a program that checks continuously for errors and situations that can stop robot's cycle of a robotic cell. To this purpose, I would use a program (call it CHK_ERR) launched one time using the command RUN by my MAIN.LS program.
    If a wrong situation occurs I use command UALM[]; the question is: does UALM command stop both programs (MAIN and all programs launched by RUN)? or just the program that uses UALM?
    In case of both programs stopped, when user press START button on the robot's electric cabinet, does it restart both program?
    Thanks

    You have to configurate the severity of the user alarm.
    The next is taken from manual

    $UALRM_SEV[n] Severity Values
    Value -Action
    0- No action
    2- Pause program
    3- Abort program with error
    4- Stop program motion
    6- Pause program and stop its motion
    8- Cancel program motion
    10- Pause program and cancel its motion
    11- Abort program and cancel its motion
    By default the value is 6.

    +16 added to any value causes servomotors to be turned off.
    +32 added to any value causes the action to apply to all programs and all motions.
    +64 added to any value requires a Cold start to reset the controller.

    For example,
    • A value of 0 causes a warning message to be displayed.
    • A value of 6 pauses the program and stops its motion.
    • A value of 43 aborts all programs and cancels all motions (11 + 32)

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