ABB MultiMove - 8 Running a subset of a MultiMove system; 8.1. How to continue with one or more drive units inactive.

7 RAPID error recovery
7.5. Example with movements in error handler
973HAC021272-001 Revision: H
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T_ROB2 task program
...
SyncMoveOn, sync1, all_tasks;
ArcL p201\ID:=10, v100, seam2, weld2, weave2, z10, gun2
\WObj:=wobj_stn1;
...
ERROR
IF ERRNO=AW_WELD_ERR OR ERRNO=ERR_PATH_STOP THEN
StorePath;
IF ERRNO=AW_WELD_ERR THEN
gun_cleaning;
ENDIF
RestoPath;
StartMoveRetry;
ENDIF
...
PROC gun_cleaning()
VAR robtarget p299;
p299 := CRobT(\Tool:=gun2 \WObj:=wobj0);
MoveL pclean, v100, fine, gun2;
...
MoveL p299, v100, fine, gun2;
ENDPROC
T_STN1 task program
...
SyncMoveOn, sync1, all_tasks;
MoveExtJ angle_20\ID:=10, vrot50, z10;
...
ERROR
IF ERRNO=ERR_PATH_STOP THEN
StorePath;
RestoPath;
StartMoveRetry;
ENDIF
...
Continued