ABB MultiMove - Page 97

7 RAPID error recovery
7.4. Example of creating asynchronously raised error
953HAC021272-001 Revision: H
© Copyright 2004-2008 ABB. All rights reserved.
PROC my_proc_off()
SetDO do_myproc, 0;
IDelete proc_sup_int;
ENDPROC
T_HANDLEROB task program
PROC main()
...
SyncMoveOn, sync1, motion_tasks;
MoveL p201\ID:=10, v100, z10, grip1;
MoveL p202\ID:=20, v100, fine, grip1;
SyncMoveOff sync2;
...
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StartMoveRetry;
ENDIF
ENDPROC
Continued