program help

    I need help with this part of a program. i need to have the cobot go to the start of the program if the part fails. right now if a part fails it rejects and then goes to the next line and continues through the rest of the inspection.


    conveyor

    MoveJ

    Set Laser_Bit_0=Off

    Set Laser_Bit_2=Off

    Set RH_Trigger=Off

    Set LH_Trigger=Off

    Above_Conveyor

    Waypoint_5

    Wait: 0.4

    Set LH_Trigger=On

    Set RH_Trigger=On

    Wait: 1.0

    If LH_Laser_Bad or RH_Laser_Bad≟ True

    Bef_Above_Bad

    Above_Bad_Part

    Drop_Bad_Part

    Set Vac_1_on=Off

    Set Vac_2_On=Off

    Above_Bad_Part

    Aft_Badpart

    Waypoint_1

    Set RH_Trigger=Off

    Set LH_Trigger=Off

    Set Laser_Bit_0=On

    Wait: 0.3 Here

    Waypoint_6

    Wait: 0.6

    Set LH_Trigger=On

    Set RH_Trigger=On

    Wait: 1.0

    If LH_Laser_Bad or RH_Laser_Bad≟ True

    Bef_Above_Bad

    Above_Bad_Part

    Drop_Bad_Part

    Set Vac_1_on=Off

    Set Vac_2_On=Off

    Above_Bad_Part

    Aft_Badpart

    Waypoint_1

    MoveL

    Drop_Off

    Wait: 0.2

    Set Vac_1_on=Off

    Set Vac_2_On=Off

    Wait: 0.2

    Above_Conveyor

Advertising from our partners