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?
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.
Ah, that makes sense. Thank you!
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.
So then you should condition it like so:
IF OpMode() = OpAuto THEN
MoveAbsJ blah, blah, z200;
ELSE
MoveAbsJ blah, blah, fine:
ENDIF
Okay, thanks again.