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In a base system without the switch \AllMotionTasks, the movements for following
mechanical units are restarted:
- always the mechanical units in the main task, independent of which task executes the 6WDUW0RYH instruction
In a MultiMove system without the switch \AllMotionTasks, the movements for following mechanical units are restarted:
- the mechanical units in the motion task executing 6WDUW0RYH
- the mechanical units in the motion task that are connected to the non motion task
executing 6WDUW0RYHBesides that, if mechanical units are restarted in one connected motion task belonging to a coordinated synchronized task group, the
mechanical units are restarted in all the cooperated tasks
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If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart
of the interrupted movement, the system variable (5512 is set to ERR_PATHDIST.
If the robot is in hold state at the time 6WDUW0RYH is executed, the system variable
ERRNO is set to ERR_STARTMOVE
If the program execution is stopped several times during the regain to path movement
with 6WDUW0RYH, the system variable ERRNO is set to ERR_PROGSTOP
If the robot is moving at the time 6WDUW0RYH is executed, the system variable ERRNO
is set to ERR_ALRDY_MOVING.
These errors can then be handled in the error handler:
- at ERR_PATHDIST, move the robot closer to the path before doing RETRY
- at ERR_STARTMOVE, ERR_PROGSTOP or ERR_ALRDY_MOVING wait
some time before trying to do RETRY
Not possible to do any error recovery if StartMove is executed in any error handler.
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StartMove
[’\’AllMotionTasks]’;’
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