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:

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

lemster68

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.