why?
ISR does not need that. this should be added at the end of a subprogram that is aborted by RESUME.
Correct, so it doesn't reach the level where the interrupt has been declared.
I have seen it so many times, where the tech needs to cancel the program, because Resume has been used improperly.
I have also faced the $advance error for the same issue. Try removing INI from the interrupt and $advance error must get resolved.
Hi ,
is it possible to resume from the software limit switch error?
Hi ,
is it possible to resume from the software limit switch error?
Not as far as I am aware. If the robot has actually hit the soft limit, then I think recovery requires jogging the axis away from the limit manually.
One possible exception might be the pre-check soft limit error. A PTP move (not LIN or CIRC) will throw a soft limit error before the robot moves, if the calculated destination will put an axis past the soft limit. If that PTP was preceded by ON_ERR_PROCEED, it might create a "recoverable" fault. But I've never seen it attempted.
well... just to explore limits of what is possible.
software limit can be modified by KRL code... if one temporarily changes limit, it is possible to back away from it and then change it back.
i do not suggesting to do that on a real machine but this is one of things i use in OL all the time. the time is of the essence and many "identical" cells are not so identical... after while when various options or upgrades or tool changes are applied. so for each i create SETUP_xxxxxx.SRC file
each such has all key parameters of that cell (software limits, work spaces, tools, bases, loads, ....) and each set of parameters can be applied or ignored through dialogs (load all yes/no, if no ask for each group individually). sort of snappy factory restore. then i can load settings in an instant for different cell, without going through hoops of slow WoV project activation.
