Karel Instruction for Recovery

  • Hello


    I have an application that runs a Karel subroutine from a third party application


    the problem is that this routine has a severity that aborts the entire Robot when an error happen inside


    i was able to write a karel instruction to avoid from Abort it, but when i resume it, it goes to the same line in the program that cause the error


    is there a way in Karel to put a:


    Jump next line
    Skip instruction

    End routine


    or something similar?

  • AD
  • #####################

    Process routine:


    3: IF (DI[23:OFF:In Dry Cycle]),JMP LBL[90] ;

    4: ;

    5: !Point Soldering ;

    7: CALL NOABORT_EX ; // Instruction that avoid Abort

    8: CALL AS_LYRA('PSOL',AR[1]) ; // Generates an Abort error when wire is clogged)

    9: ;

    10: LBL[90] ;

    11: ;

    12: !End of Routine ;

    13: LBL[99] ;


    #####################

    PROGRAM noabort_ex

    %NOLOCKGROUP

    BEGIN

    --SOLDER CLOGGED HANDLER

    CONDITION[801]:

    WHEN ERROR[97007] DO

    NOABORT

    ENDCONDITION

    ENABLE CONDITION[801]

    END noabort_ex

    #####################

    the problem is that when I resume program it try to run program from the same line,


    1.- Karel instruction runs and avoid the abort

    2.- Fanuc calls Lyra instruction and this abort the program

    Robot is Paused now

    3.- I try to rerun the program, but i need to jump that line and continue with the normal execution of the routine


    i was looking for a way to skip line or end routine option


    I'll take a look into the GoTO end_PROG, can u put an example

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