ABB MultiMove - 7.2. Simple error recovery example

7 RAPID error recovery
7.2. Simple error recovery example
3HAC021272-001 Revision: H92
© Copyright 2004-2008 ABB. All rights reserved.
7.2. Simple error recovery example
About this example
In this example, a division with zero causes an error during synchronized movement mode.
Since the error handler can resolve the error without any motion instructions, the error handler
does not have to consider the synchronization. The synchronized movement mode is active
the whole time and the second move instruction is started for both robots as soon as the error
handler has finished. If no other error can occur, the T_HANDLEROB task program does not
need to have an error handler.
T_PROCROB task program
...
SyncMoveOn, sync1, motion_tasks;
MoveL p101\ID:=10, v100, z10, gun2 \WObj:=wobj_handlerob;
a:=3;
b:=0;
c:=a/b;
MoveL p102\ID:=20, v100, fine, gun2 \WObj:=wobj_handlerob;
SyncMoveOff sync2;
...
ERROR
IF ERRNO = ERR_DIVZERO THEN
b:=1;
RETRY;
ENDIF
T_HANDLEROB task program
...
SyncMoveOn, sync1, motion_tasks;
MoveL p201\ID:=10, v100, z10, grip1;
MoveL p202\ID:=20, v100, fine, grip1;
SyncMoveOff sync2;
...