Jump Labels for Errors (+ IRVision)

Trying to expand the error handling on a robot that was programmed by a coworker who recently left. He and I were both new to Fanuc, but he was able to spend a lot more time on the project than I was.

I am trying to set an alarm ID register when I request an image using VISION RUN_FIND, and a result is not obtained. (Essentially a VISION TIMEOUT alarm). My only examples are the existing code that was written, but when I try to duplicate it, the TP doesn't accept my changes. We don't have RoboGuide, and are limited to the pendant or the browser editor.

Here is an example of how errors are handled throughout the system. "JMP" is appended to a line of code, then the associated LBL sets an AlarmID and StatementID.

  CALL IRVWAITLOG
  VISION RUN_FIND SR[1]
  VISION GET_NFOUND SR[1] R[3]


  IF (R[3:QtyFound]=1) THEN
  --eg:SCREW FOUND, GET VR
  VISION GET_OFFSET SR[1] VR[1] JMP LBL[1]
  --eg:STORE MES VALUES
  R[22]=VR[1].MES[1]
  R[23]=VR[1].MES[2]
  R[24]=VR[1].MES[3]
  R[25]=VR[1].MES[4]
  --eg:CHECK CIRCULARITY
  IF (R[25:CircularityRef]>R[103:CircularityMax]),JMP LBL[2]

.......

  --eg:GET VR FAILED
  LBL[1]
  R[2:AlarmID]=5
  --eg:SET NEXT STATE TO ALARM HANDLER
  R[1:StatementID]=7
  --eg:JUMP OUT OF PROGRAM
  JMP LBL[999]

  --eg:CIRCULARITY FAILED
  LBL[2]
  R[2:AlarmID]=4
  DO[147]=PULSE,1.0sec
  --eg:SET NEXT STATE TO ALARM HANDLER
  R[1:StatementID]=7
  --eg:JUMP OUT OF PROGRAM
  JMP LBL[999]

Then there is a separate program, ALARM_HANDLER which does any number of things depending on the AlarmID set elsewhere.

- Call other programs (such as GO_HOME)

- Set UALM register

- Set a DO

- PAUSE the program

So how can can I cause a camera communication/vision timeout error to trigger a JUMP then call the ALARM_HANDLER program?

Quote from Nation

Why doesn't the TP accept your changes?

I've tried adding several variations of the following line, and always get a splash screen saying the line is invalid.

VISION RUN_FIND SR[1] JMP LBL[1]

I've defined the label ahead of time, so that's not the issue. What I'm trying to understand is how to have RUN_FIND kick me down to the label if it is unsuccessful (no response from the camera is the specific case we are trying to handle).

Quote

Is the program write protected? Is the password protection option present on the controller, and you are not logged in at an appropriate level? Is the TP turned on when you try to make the edits?

I have appropriate access/credentials. TP is enabled. I have tried on the physical TP (we have the tablet option), as well as in the web browser editor on my laptop.

Quote

If you are trying to add a jump label to the end of "VISION RUN FIND", that is not possible.

Okay... so what we need is a way to set a digital output if we attempt to take an image and do not get a valid response from the camera. (We force the condition by simply disconnecting the camera). Can you give me an example of how to do that with VISION RUN_FIND, or some other method?

I'm an old ABB guy, and the FANUC code is just not very intuitive for me yet.

Nation, if the camera were to lose connection, would the program still proceed to GET OFFSET, or would the error stop it prior to that line?

Is there any other way outside of KAREL to flag that communication error condition?