MoveAbsJ Regain Error

bbarnett
bbarnett ✭
in RAPID Programming
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?

Comments

  • lemster68
    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.
    Lee Justice
  • bbarnett
    bbarnett ✭
    Ah, that makes sense.  Thank you!
  • bbarnett
    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
    lemster68 ✭✭✭
    So then you should condition it like so:

    IF OpMode() = OpAuto THEN
      MoveAbsJ blah, blah, z200;
    ELSE
      MoveAbsJ blah, blah, fine:
    ENDIF
    Lee Justice
  • bbarnett
    bbarnett ✭
    Okay, thanks again.

Categories

In this Discussion