HOME RETURN

1: OVERRIDE=50%

2: IF VO[7]=ON, JMP LBL [10]

3: PR[20]=LPOS

4: R[10: CURRENT X]=PR[20,1:Curpos]

5:____

6: R[11: CURRENT X]=PR[20,2:Curpos]

7: PR[20,3:Curpos]=450 MAY HAVE TO CHANGE UPPER OR LOWER.

8:L PR[20:Curpos] 200mm/sec FINE

9: IF R[11:CURRENT Y]>0,JMP LBL[1]

10:L PR[12: Home_ret2] 200mm/sec CNT25 MAY HAVE TO CHANGE PR[12] TO ANOTHER PR WITH A SAFE PATH HOME.

11: LBL[1]

12: IF R[10: CURRENT X]>1800,JMP LBL[3] MAY HAVE TO CHANGE TO >1800 AND TEST OPERATION WITH ABORT ALL AROUND THE CELL IN ALL PROGRAMS.

13: JMP LBL[3]

14:L PR[31: Home_SAFE_HOME2] 200mm/sec CNT25 MAY HAVE TO CHANGE PR[11] TO ANOTHER PR WITH A SAFE PATH HOME.

PR[33:SAFE_HOME4] 200mm/sec CNT25

P[1] 400mm/sec CNT50

15: LBL [3]

16:L PR[1: HOME POSITION] 200mm/sec FINE

LBL[10]

18:__

19:__

20:__

[END]

Change 12: IF R[10: CURRENT X] to >1800 instead of Less than 1800 8/14/19 11:20AM

Note: This program works as planned while the robot is in the Furnace area but anywhere else in the cell it has Limit faults.

Is there an option if to add multiple JMP LBL's in the same line?

Any support is appreciated.

Thank You

SRTAutomation.