working with condition monitors/handler

    Good day,

    I'm new to working with TP condition monitors and CH programs and would like to ask for some advice. Say I have a main program, which calls sub-programs, then returns to main and loops again. Pretty simple. If I monitor for a condition within a sub-program, how do I setup the action program for that CH to exit the sub-program and return to the main program?

    The context here is that I want to install a user process cancel pushbutton that will go to a DI. When this is pressed, I want the robot to stop its current motion in the sub-program, move to a safe position, then resume at a certain line in the main program.

    Thank you.

    The only way to do that is to fully abort the running program then start then main program over again. Your main program should always start by calling a recovery/safe position program in that case.

    Are you using a PLC for UOP control? If so that is the easiest way. Otherwise you could do it with BG Logic.

    Basically your PLC or BG Logic program will pulse the abort signal, wait, the pulse the Prod start signal.

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