instructions error

Robot Controller
1

Need help.

instructions error
Description
TASK T_ROB1: variable and trap routine already connected

Actions
It is not legal to connect a specific variable with a trap routine more than once

I feel i must write an error handler but i m not so experienced in RAPID programming. It is needed to automatically restart execution of processes.
Programm looks like (simple)

MODULE module1
workobjectdata …
targetsdata …
tooldata…
speeddata…

PROC main()
path1;
path2;
END PROC

PROC path1()
move instructions …
END PROC

PROC path2()
move instructions…
END PROC

END MODULE

after execution of path1 and path2 i get the error i v mentioned above and i have to manually press ok to the error message, PP to main and start button. ANy advice how to automate this?
Thx.

2

Hi Dimitri,

Do you have any intnum variable in your program.

VAR intnum nVaribale;

If you have one try to delete it at the end or begining of each cycle with IDelete command.

IDelete nVaribale;

BR.

3

Lol. this was simple)
I have just to insert proccall (to main proc) at the end

MODULE module1
workobjectdata …
targetsdata …
tooldata…
speeddata…

PROC main()
path1;
path2;
END PROC

PROC path1()
move instructions …
END PROC

PROC path2()
move instructions…
main;
END PROC

END MODULE

So now i have endless cycle and operator must press stop manually to stop robot ;p

4

Greetings,

This solution is not so good. It will cause a execution stack overflow. It is recursive; your call heirarchy has already started in the main and then you call main from within. A better solution for an infinite loop would be: WHILE (TRUE) DO
Proc1;
Proc2;
ENDWHILE

BR,

5

or if you wanted some control over it. You can set the robot to run in continous cycle instead of single execution and when it finished main it will start again.