Conveyor tracking error handling?

Robot Controller
1

Have my first working conveyor tracking setup, but the manual does´nt discuss error handling, would it be enough to catch the following two errors 50174 and 50221. in an error handler like this:

ERROR

IF ERRNO=174 OR ERRNO=221 THEN

DropWObj wobjcnv1;

DeactUnit CNV1;

bFelConv:=TRUE;

ENDIF

And use the boolean “bFelConv” as a “start at beginning of conveyor tracking routine”?

Kind regards

Mikael

2

Hi,

the errors 50174 and 50221 from the error logging can not be handled by using the number 174 and 221 in the error handler, because these are different concepts.

Error number 50174 means you have no conveyor connected and you have to use thr instruction “WaitWobj” before you exucete amove instruction bases on the conveyor work object.

/BR

Micky

3

so how would you handle these errors? the thing that happened was that the robot could’nt keep up so it connected the workobject, but the workobject reached the max distance Before the robot was finished which caused the error, we solved it be adjusting the speeds, but which solution should i use to Catch this error.

4

Im testing the following solution right now, maybe it will work… :smiley:

PROC initCnvTrk()

CONNECT nCnvTrackError WITH T_CnvTrk_Error;

! 50174 Wobj not connected

IError COMMON_ERR\ErrorId:=174,TYPE_ALL,nCnvTrackError;

ENDPROC

TRAP T_CnvTrk_Error

DropWObj wobjcnv1;

DeactUnit CNV1;

bFelConv:=TRUE;

ENDTRAP