so i put it after PROC MAIN ()
and it does nothing, i press the emergency stop, the robot stops, when i release it it continues the welding from where it left off, and the doEstopTriggered stays 1
its like is not executing the Trap routine
OK, so it is not entering the error section. Add “SetDO doEStopTriggered,0;”
after the bookerrno and a TPWrite “Trap”; in the trap routine that we can check if it is executed.
writes on the teach pendant Trap when i start the program and sets doEstopTriggered to 0 at the beginning of path_10, it does not enter the gun cleaning routine .
When the E-stop is pressed, program execution stops. A trap will not execute unless it is in a background task.
When you activate e-stop in the middle of welding, what happens?
the robot stops
the pointer remains in Path_10
if i add exitcycle or return to the event routine the pointer jumps to main
OK, but after start he should write trap and enter the error-section?
Ha, I forgot: Instead of just ERROR for the error-section it must be ERROR(Err_MY_err) !!!
it writes Trap when i start path_10
where should i put the Error(Err_My_err)?
In path_10, instead ERROR you put Error(Err_My_err). This is necessary to catch a raised error.
the same, continues where he left off, with out entering the gun cleaning routine
He writes “trap”?
I neglected to mention that the trap can execute after e-stop if it is set to safe.
Good tip. Because we stopp, the interrupt might be ignored.
So change the command to ISignalDO \SingleSafe,doEStopTriggered,1,intETriggered;
Yes
i start the program, it starts welding, i press the E-stop and reset it, press play, does the error recovery goes to service position, the robot goes back where he left off, the pointer moves back to path_10 where he left off, and gives an error : 50359: Path Recorder on StorePath level not allowed, and stops the program execution