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Error handler during EGM

csmith
✭
Hi,
I'm trying to recover from any motion errors while my robot is controlled through EGM.
My current Rapid code:
Whenever I run into an Error during EGM, my error handler won't execute.
How can I make this work so I can recover without manually jogging the robot back to a valid position?
Thank you
I'm trying to recover from any motion errors while my robot is controlled through EGM.
My current Rapid code:
TEST egm_action CASE EGM_POSE: printInfoMessage 1, CONTEXT_EGM, "Starting pose mode"; EGMRunPose egm_id, EGM_STOP_HOLD, \X \Y \Z \Rx \Ry \Rz \CondTime:=20 \RampInTime:=0.1 \PosCorrGain:=1; DEFAULT: ENDTEST EGMReset egm_id; ERROR IF ERRNO=ERR_ROBLIMIT THEN TPWrite "Joint out of range error"; MoveAbsJ homepos,v100,fine,tool0; ENDIF
Whenever I run into an Error during EGM, my error handler won't execute.
How can I make this work so I can recover without manually jogging the robot back to a valid position?
Thank you
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Comments
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Check out the system input Interrupt. If you have an error, your system output for error can tell the PLC that there is a problem. Then the PLC can give you that system input. From what I understand, it will act on that without the program running.Lee Justice0
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