IF statement (w/t THEN and ENDIF) V8.20P/35

    Here I am encountering an issue while creating a BG Logic program. My objective is to abort the program upon encountering an error, specifically when the condition (UO[6] Fault = ON) is met due to any issues with the robot.

    Although CSTOPI for Abort is available, I prefer to incorporate it with the fault condition. This way, the robot can initiate the recovery to its home position whenever an error occurs during the execution of any program.

    Controller details:

    Model: LR Mate 200iD/7L

    Communication protocol: PROFIBUS-DP

    Software Version: V8.20P/35

    I have attempted various methods (refer to the attached picture) to achieve this, but consistently encounter the error INTP-443 (%s^4, %d^5) - Invalid item for Mixed Logic.

    Can someone assist me in comprehending how the IF statement works without the THEN and ENDIF conditions?

    I would highly recommend you NOT automatically abort simply because the robot is faulted, that is just throwing the baby out with the bathwater.

    For example, do you really think it is a good idea to abort your program when you're stepping through in manual and you get a fault because you released the dead-man switch? Or, when the robot faults because of a program bug, do you really want the robot to go back to line zero of the program, or would you rather debug from the line of code that generated the fault?

    I prefer to use a user alarm with an adequate severity to abort the robot when needed, rather than aborting for any and all faults.

    This is what I stated earlier I cannot use THEN and ENDIF condition in V8.20, this is why I am siking for a solution...

    Quote from asdf

    The RUN instruction isn't available in the one line if statement so you must use the IF...THEN...ENDIF instructions as below.

    Code
    IF (UI[6]=ON) THEN
RUN ABORTIT
ENDIF
    Quote from pdl

    I would highly recommend you NOT automatically abort simply because the robot is faulted, that is just throwing the baby out with the bathwater.

    For example, do you really think it is a good idea to abort your program when you're stepping through in manual and you get a fault because you released the dead-man switch? Or, when the robot faults because of a program bug, do you really want the robot to go back to line zero of the program, or would you rather debug from the line of code that generated the fault?

    I prefer to use a user alarm with an adequate severity to abort the robot when needed, rather than aborting for any and all faults.

    Definienetly you are right, I have a thought on this as well and the condition for automatic will be added in the abort command.

    Regarding the process, we can't or shouldn't continue because we have a deburing application that requires that any error during the process must result in an NIO part. And this is the result, I want to abort the programme at any point and go back home, so we have dropped NIO part on the NIO conveyor belt.

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