MoveAbsJ Regain Error

bbarnett

When I use the MoveAbsJ function with a fine point, everything is great.  When I use it with zonedata, but the robot stops at that point (no other instructions after), I get a "Correct Regain Impossible" alarm.  How do I correct this?

lemster68

Oh, so you have no other motion instructions after.  This should generate a corner path failure, the move was executed as a fine point even though you are using a zone.  Same as having a wait time or WaitDI or similar.  Try to add some subsequent motion instructions and see how that works.

bbarnett

Ah, that makes sense.  Thank you!

bbarnett

Is there a 'correct' way of ending a PROC without a FINE movement?  My program is full of short PROCs where a PLC tells the robot which PROC to run next.  I only get this error in manual mode.

lemster68

So then you should condition it like so:

IF OpMode() = OpAuto THEN
  MoveAbsJ blah, blah, z200;
ELSE
  MoveAbsJ blah, blah, fine:
ENDIF

bbarnett

Okay, thanks again.