ABB error handler/Trap

    Hi all,

    I am currently working on a auto recovery program so that the operators don't have to manually recover the robot as many of them on site aren't trained to use these. As a result in this we are experiencing many crashes when they are attempting to recover weld faults.

    As a result of this i have tried to create my own error handler to automatically recover the robot in fault. I am using a semi static task to to monitor if the robot is welding and moving.

    MODULE mMain

    VAR clock clkR1_MOVE;

    VAR num nR1_Move;

    PROC MAIN()

    WHILE TRUE DO

    IF DOutput(do_MonitorStop)=1 THEN

    GOTO END;

    ENDIF

    ClkStop clkR1_MOVE;

    ClkReset clkR1_MOVE;

    WHILE DOutput(do_R1_Not_Moving)=1 AND DOutput(do_R1_Welding)=1 AND DOutput(doR1_AWError)=0 DO

    ClkStart clkR1_MOVE;

    nR1_Move:=ClkRead(clkR1_MOVE);

    IF DOutput(do_R1_Not_Moving)=1 AND DOutput(do_R1_Welding)=1 AND DOutput(doR1_AWError)=0 AND nR1_Move>3 THEN

    PulseDO\PLength:=1.5,do_R1_StopFault;

    ENDIF

    ENDWHILE

    WaitTime 0.05;

    ENDWHILE

    END:

    WaitTime 0.05;

    ENDPROC

    ENDMODULE

    Using this monitoring I am calling a trap routine to raise an error. Unfortunately this is where I am struggling as I am pretty much self taught using RAPID. I am trying to use the error code below to call the automatic recovery using a UI message box so the operator has to acknowledge the fault before it starts to move back through the program to the determined safe areas within the actual welding program.

    TRAP R1_Stop_Fault

    RAISE err_R1_Weld_Fault;

    ERROR

    IF ERRNO=err_R1_Weld_Fault THEN

    R1_Recover:=UIMessageBox(\Header:="R1 Automatic Recover to Safe Point"\MsgArray:=maint_msg1\BtnArray:=maint_btn1\Icon:=iconInfo);

    IF R1_Recover=1 then

    StorePath;

    PathRecMoveBwd\ID:=Safe1;

    Stop;

    RestoPath;

    StartMove;

    ENDIF

    ENDIF

    RETURN;

    ENDTRAP

    Any time I go to test this it either pops up with interrupt queue full and value error. Or it just skips this all together and calls ABB's generic arc supervision error.

    Any pointers in the right direction will be highly appreciated.

    Thanks

    Sam

  • HawkME April 22, 2023 at 10:08 AM

    Approved the thread.

    Hey Sam!

    Just saw this, as I am looking into some error handling stuff too. I've been programming ABB robots for 10 years, and I still struggle with Traps, Interrupts, and Error Handlers.

    Did you ever get this working, and if so what was the solution?

    My initial thought is that you might need to book your error number so that the system will recognize it. If it's not a built in error for the base ware or a factory option, then you need to do the following...

    What I am currently doing is running a Power-On event routine that books all of my custom error numbers. I might be able to just run that routine at the top of MAIN, but event routine seemed like a more error-proof option.

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