RobotStudio event

Repeating Routines based on sensor signal in ABB Rapid

Hello everyone, I hope you can help me with a problem. I have around 150 routines in a module that I want to execute in a specific order. Whenever a variable changes due to a sensor signal, I want the currently executing routine to repeat after completion. The routine should keep repeating until the sensor signal changes again.

Since I'm completely new to ABB Rapid, I don't know how to achieve this. Is it possible, for example, to use a for loop for routine calls, call the routine once, and then use a while loop to check the sensor signal? Is something like that possible?

PROC main()

    CONST ?routines? RoutineList:=[...]; 


    FOR i FROM 1 TO RoutineList DO

        CallRoutine RoutineList[i]; 

        WHILE SensorSignal DO

            CallRoutine RoutineList[i];




I know that this Code won't work. I just want to give you an example of what i meant. 
What would be the best way to do something like that?


  • lemster68
    lemster68 ✭✭✭
    What type of signal does this sensor give you? Just simple on or off or does it give a value of some sort?
    Lee Justice
  • It's just a simple on/off signal. 
  • lemster68
    lemster68 ✭✭✭
    I think that your pseudo code will work.  Just a couple things:
      CONST string RoutineList ["routine1", "routine2", etc.,]:
      You might need to have another variable to assign the name from the list array.
      stRunJob:= RoutineList[i];
      Then call by string variable looks like this:
    Lee Justice