home program

    I have posted about this before and received ideas but I am still having issues. So, I have a main program doing the work, but I am looking to add a return to home program which is separate from the main program. I am using a button on HMI to call this program after the main is faulted for some reason. can someone go through the steps needed to abort the main program an the call the return to home program. I am obviously not doing something correct!! After the robot is home I want the main to be called back. I am using the robot in remote with plc inputs/outputs. Thanks again.

    There is more than 1 way to do this

    Set MASTER as your main program is you abort/start

    There are a lot of post describing how to do this, (Configuration setup, etc, etc)



    MASTER Program



    1

    2 lbl 1

    3 if uo7= off jump lbl 98

    4

    5 LBL 2

    6Your program starts here

    7

    ...

    ...

    ...

    51

    52 Your program ends here

    53 jmp lbl 2

    54

    55 lbl 98

    56 call revovery This program will send the robot home magically

    57 jmp lbl 1

    Retired but still helping

    When faulted, somebody has to abort it and then , yes, will go back to top of MASTER program



    You set this up doing MENU , SETUP , Prog Select ..............

    and also some set up in the configuration (first ten lines )

    We (the forum) had a long post about this



    You dont have to change any variables on the variables table

    Retired but still helping

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