Jumping from one program to another program

    Hello All


    I have a question , i am working on a pick and place application . My question is , when i am running the robot , if an error or jam happens , the robot stops . After resetting the error , i want to home the robot . How can i abort the current pick program , and jump to the home program ?

    Thank you for the response , the CSTOP worked , it aborted the program , but when i try to jump to the main program ,i am getting invalid item mix error .

    I used an if condition that if UI4 is off and Home button is pushed - jump to main home program .

    But i am not able to add this program in the background running .

    Any ideas or suggestions ?

    Quote from venkata1988

    Thank you for the response , the CSTOP worked , it aborted the program , but when i try to jump to the main program ,i am getting invalid item mix error .

    I used an if condition that if UI4 is off and Home button is pushed - jump to main home program .

    But i am not able to add this program in the background running .

    Any ideas or suggestions ?

    In your BG Logic program, you can't jump backwards, and you can't call other programs.

    What you need is a way of starting from a Main program while the robot is aborted.
    This can be done with the program start method "other" where you specify the Main program.

    One downside is that the robot needs to be put in remote mode for this to work. But in your case that might not be a problem?

    oakleyas i was able to abort the program , and the macro using the cycle stop , and using DI[2] input i was able to go call the macro for home sequence . The issue i am having is , when the robot is homed , i did a call Main program . But this is not happening . My curser still stays in the last program .

    How are you calling and starting your Main program?

    Is your Main program the same program that you were running before aborting and homing?

    If it is the same program, then I'm not sure why you can't start it up the same way you did originally after completing the home macro.

    Quote from venkata1988

    1) inside the Home program macro , once the macro is executed - the last line in the home program is the Call Main program .

    2)No i was running a different program before aborting.

    I'm not sure how your Main works, but this just doesn't sound like a good idea. Your Main and Home macro should be separate.

    I tried running a macro with a "Main" call at the bottom that is just a constant loop and it executed properly. I don't believe you can view where the program is at while it's executing since it is a macro. The only way that I can even tell that the Main loop is running is the UO[10: BUSY] signal being on and the BUSY and RUN indicators lighting up green in the top right of the TP screen.

    When your robot reaches home, do your indicators turn off at the top of the TP?

    Setup your production start program. Menu > setup > prog select. On program select mode set it to other, under detail put in the name of you main program.

    Have your main program call your homing program 1st, before getting into your main loop.

    After you abort, send production start signal

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