Hi all,
I am currently trying to implement recovery to my robot and I believe that I have everything (code wise) in the main program solidified, however when in cycle start and in a program other than main I cannot seem to find a way to return to main either before restoring cycle start or after. Any help on this would be great, thanks!
In the example, I would like to go from .pick to .main when cycle start is turned off so that the z_clear_height recovery process is triggered before jumping back into pick when cycle start is turned on.
code:
Code
.PROGRAM main()
; set current position to a point
; z position at mold that is clear 'clear z height'
z_clear_height = -456
HERE current_pos
DECOMPOSE current_pos_z[0] = current_pos
LDEPART z_clear_height-current_pos_z[2]
main_loop:
blah blah blah
.PROGRAM pick() #1075
BITS 65,16 = 0
ACCURACY 100
JMOVE apprpickpos
ACCURACY 1
LMOVE offset1+pickpos
BREAK
BITS 65,16 = command
SWAIT continue
LMOVE offset1+partdetectpos
BREAK
BITS 65,16 = command+50
SWAIT continue
position = 0
ACCURACY 100
JMOVE apprpickpos
BITS 65,16 = command+1000
RETURN
.END
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