In the TP program header information there is an attribute:
If the program type has been set to NONE, you can use ignore pause to specify whether the program
will continue to run even when an error occurs, a command is issued (such as pushing EMERGENCY
STOP or HOLD), or the teach pendant is enabled. Ignore pause is allowed only in programs that do
not have motion groups specified such as an I/O monitoring program. This means that programs that
use ignore pause cannot contain any motion instructions.
There is something like that in a KAREL program:
%NOPAUSE Translator Directive
Purpose: Specifies a mask for pausing
Syntax : %NOPAUSE = ERROR + COMMAND + TPENABLE
• The bits for the mask are as follows:
ERROR : ignore pause error severity
COMMAND : ignore pause command
TPENABLE : ignore paused request when TP enabled
• Any combination of ERROR, COMMAND, and TPENABLE can be specified.
• If the program is paused by itself, the %NOPAUSE directive will be ignored and program
execution will be paused.
• This directive is only effective for programs with %NOLOCKGROUP. If the program has motion
control, the %NOPAUSE Directive will be ignored and program execution will be paused.
But I can't understand under what conditions it works. I tried run programs (TP or KAREL) with all these settings in AUTO mode and then turned on Teach Pendant and the running program went into PAUSE state.
Can anybody help me to understand the reason?