RobotStudio event

qstop recovery

medinadan
medinadan ✭
in RobotStudio
Hi all,

I have an array of robtarget and a loop that do some check and then move to the next target.

If E-stop is pushed, QSTOP event routine executes and everything stops.
when I enable the motors and press 'play', if it was moving it go on with the movement instruction.

I want to be able to skip the movement instruction and go on with the check in order to exit the loop. I do not manage to find how to do that.

Someone knows how can I do that? Thanks.

Best regards,
 Daniel M.
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  • PerSvensson
    PerSvensson ✭✭✭
    Sounds like you should take a look at StopMove and ClearPath etc.
    Per Svensson
    Robotics and Vision Specialist
    Consat Engineering
  • medinadan
    medinadan ✭
    PerSvensson said:
    Sounds like you should take a look at StopMove and ClearPath etc.
    yep, it seems so but ...

    I use the StopMove and ClearPath in the STOP event routine. When I restart the program, the PP remains at the movement instruction but there is no movement. As the instruction is not completed, the program stucks at that point.

    The examples that appears in the help of ClearPath uses ERROR and TRAP clauses to change the movement.
    I believe that TRYNEXT can do what I want, but I can't use it into an event routine and I do not manage to raise the error from the event routine to the movement procedure.

    Is it possible to raise an error from an event routine to a procedure? (I need to use it with STOP and QSTOP).

    Thank you,
     Daniel M.
  • medinadan
    medinadan ✭
    medinadan said:
    Is it possible to raise an error from an event routine to a procedure? (I need to use it with STOP and QSTOP).
    I answered myself. it is NOT possible.
    the message from error code "40210: Interrupt removed from queue" says that no trap routine will be executed while an event routine is executing.

    So, Is it possible to stop and skip a movement instruction when the program stops?

    Thank you,
     Daniel M.
  • PerSvensson
    PerSvensson ✭✭✭
    Haven't tried it before but maybe you could setup a interrupt in the event routine that fires the trap routine
    Per Svensson
    Robotics and Vision Specialist
    Consat Engineering
  • medinadan
    medinadan ✭
    Hello,
    I have been exploring on my own and I have contacted with an ABB representative.

    I have not found any way to do what I would like to do. Interrupts are disabled and cannot be used while an event routine is executing. And errors cannot be used.

    It seems that with the RS 6.0 could be done something similar with the Controller-GeneralRapid-CollisionErrorHandling. 

    Thanks for your answers, PerSvensson.
    Best regards,
     Daniel M.

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