Fanuc Macro Program Interruption Restart

    I have an issue with a robot that is using a Macro that runs in the background for a Tip Dress Program on 2 auxiliary Ped Pinch Weld guns. It is programmed as a Macro that is started by DI so the robot can continue its Material Handling tasks while the Tip Dress is performed periodically.

    My problem is: when this Macro gets interrupted, it will not continue. Someone has to pull up the background program and walk it through with the teach pendant to finish.

    Is there a way to resume a BG Macro like this?

    can you use a monitor program to abort the macro, or some other function if the interrupt occurs when the macro is executing? I use a monitor program for camera comm interruptions. if a specific fault occurs, robot will reset, cycle start when the program is active, production continues seemingly uninterrupted.

    Here is Macro Program. Again, called by a DI. When it gets interrupted, the robot program that is running in the foreground waits for a flag and a DO that is set/unset in this Macro to be off before continuing into the zone. When pull up the macro program, it is usually somewhere in the middle and can be finished through the teach pendant, and then everything will resume normally. This seems to be the only way to resume the macro.

    /PROG TIPDRESS_PED
    /ATTR
    OWNER = MNEDITOR;
    COMMENT = "TIPDRESS PED";
    PROG_SIZE = 1954;
    CREATE = DATE 20-08-18 TIME 22:55:24;
    MODIFIED = DATE 22-03-03 TIME 11:14:56;
    FILE_NAME = TIPDRESS;
    VERSION = 0;
    LINE_COUNT = 88;
    MEMORY_SIZE = 2378;
    PROTECT = READ_WRITE;
    TCD: STACK_SIZE = 0,
    TASK_PRIORITY = 50,
    TIME_SLICE = 0,
    BUSY_LAMP_OFF = 0,
    ABORT_REQUEST = 0,
    PAUSE_REQUEST = 0;
    DEFAULT_GROUP = *,1,*,*,*;
    CONTROL_CODE = 00000000 00000000;
    /APPL
    SPOT : TRUE ;
    SPOT Welding Equipment Number : 1 ;
    /MN
    1: !TIPDRESS PROGRAM ;
    2: R[90:Tip Dress Done]=0 ;
    3: ;
    4: F[3:TipDress_Init]=(ON) ;
    5: ;
    6: WAIT DO[137:ClearOf_TipDress]=ON ;
    7: DO[150:TIPDRESS_Active]=ON ;
    8: ;
    9: WAIT DO[144:R3_Welding]=OFF ;
    10: DO[138:Tipdress in Cycle]=ON ;
    11: DO[157:ReqPivot_HOME]=OFF ;
    12: ;
    13: !Ref Position ;
    14:J P[3:GUNS_OPEN] 100% CNT5 ;
    15: ;
    16: WAIT DO[135:GUNS_OPEN_RefPos]=ON ;
    17: !Home Position ;
    18:J P[1:GUNS_OPEN] 100% CNT5 ;
    19: ;
    20: !Turn On Tip Dresser ;
    21: DO[153:At_Tip_Dress_Pos]=ON ;
    22: ;
    23: !At Tipdress Position ;
    24: WAIT DI[34:TipDressRunning]=ON ;
    25: WAIT DI[36:TipDressAtHOME]=OFF AND DI[35:TipDressAtWORK]=ON ;
    26: ;
    27: IF DI[149:CapsChanged]=OFF,JMP LBL[20] ;
    28: ;
    29: !Tipdress New Caps ;
    30: ;
    31: !Pressure 350 lbs ;
    32: !Cutter thickness 8 mm ;
    33: !Pushing depth 6.0 mm ;
    34: ;
    35: PRESS_MOTN[SD=20,P=90,SEL=(1,1),t=8.0] ;
    36: WAIT R[195] ;
    37: ;
    38: JMP LBL[25] ;
    39: LBL[20:Used] ;
    40: ;
    41: !Tipdress Used Caps ;
    42: ;
    43: !Pressure 350 lbs ;
    44: !Cutter thickness 8 mm ;
    45: !Pushing depth 6.0 mm ;
    46: ;
    47: PRESS_MOTN[SD=20,P=90,SEL=(1,1),t=8.0] ;
    48: WAIT R[196] ;
    49: ;
    50: LBL[25] ;
    51: ;
    52: !Turn Off Tipdresser ;
    53: DO[153:At_Tip_Dress_Pos]=OFF ;
    54: ;
    55:J P[1:GUNS_OPEN] 50% CNT5 ACC50 ;
    56: DO[157:ReqPivot_HOME]=ON ;
    57: ;
    58: WAIT DI[34:TipDressRunning]=OFF ;
    59: WAIT DI[36:TipDressAtHOME]=ON AND DI[35:TipDressAtWORK]=OFF ;
    60: ;
    61: !Run Wear Update ;
    62: ;
    63: CALL WR_UPD01 ;
    64: CALL WR_UPD02 ;
    65: ;
    66: F[1:TipWearUpdateDone]=(ON) ;
    67: ;
    68: !AT HOME ;
    69:J P[1:GUNS_OPEN] 50% FINE ACC75 ;
    70: ;
    71: !Tip Dress Complete ;
    72: DO[156:Tip_Dress_Comp ]=PULSE,0.5sec ;
    73: DO[210:Ack Tip Dress W3]=PULSE,0.5sec ;
    74: DO[290:Ack Tip Dress W4]=PULSE,0.5sec ;
    75: DO[212:Caps Changed ]=PULSE,0.5sec ;
    76: DO[292:Caps Changed ]=PULSE,0.5sec ;
    77: WAIT DI[212:End of Stepper W3]=OFF ;
    78: WAIT DI[292:End of Stepper W4]=OFF ;
    79: ;
    80: !Reset Signals ;
    81: DO[153:At_Tip_Dress_Pos]=OFF ;
    82: DO[157:ReqPivot_HOME]=ON ;
    83: DO[138:Tipdress in Cycle]=OFF ;
    84: ;
    85: F[3:TipDress_Init]=(OFF) ;
    86: ;
    87: R[90:Tip Dress Done]=1 ;
    88: DO[150:TIPDRESS_Active]=OFF ;
    /POS
    P[1:"GUNS_OPEN"]{
    GP2:
    UF : 1, UT : 1,
    J1= 90.000 mm, J2= 90.000 mm
    };
    P[3:"GUNS_OPEN"]{
    GP2:
    UF : 1, UT : 1,
    J1= 90.000 mm, J2= 90.000 mm
    };
    /END

    oh,i got what you said,but it's an unavoidable problem if u want to multi-process.In some cases (Tipwear updata got error etc.) u have to abort the foreground program,and deal with the fault of the "background running pro" by run this marco on the TP.

    I have been thinking about how to solve similar problems quickly,but there's nothing effective yet as i know~ Maybe raising the cost budget can solve it:frowning_face:

    We are used to using "RUN" to deal with multi-process,it's clear for the program frame.

    Nice day~!

    You could test using the Run command in place of the macro and see how it responds to fault, hold, reset, resume via start signal.

    Another possible option is to purchase and install the multi-uop option. It allows you to UOP start different groups with different sets of UOP signals. It is a bit of a PITA to setup so I'd only use it if really necessary.

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