Recover Method

Description
Recover moves the robot back to the position is was in when the safeguard was open.

Syntax
Function Recover () As Boolean

Remarks
The Recover method can be used after the safeguard is closed to turn on the robot motors and slowly move the robot back to the position it was in when the safeguard was open. After Recover has completed successfully, you can execute the Cont method to continue the cycle. If Recover was completed successfully, it will return True. Recover will return False if a pause, abort, or safeguard open occurred during recover motion.

Return Value
True if the recover motion was completed, False if not.

See Also
Continue Method, Pause Method

Recover Example
VB Examples:
This example executes a recover, then continue

Sub btnCont_Click( _  
   ByVal sender As System.Object, _  
   ByVal e As System.EventArgs) Handles btnCont.Click  
  Dim sts As Boolean  
  Dim answer As Integer  
      
  sts = m_spel.Recover()  
If sts = False Then  
  Exit Sub  
End If  
answer = MsgBox("Ready to continue?", vbYesNo)  
If answer = vbYes Then  
  m_spel.Continue()  
EndIF  
End sub  

In the example below, the cycle continues after recover is run. This example shows how the recover action is run as long as the button is held down. If the button is released during the recover motion, a pause is issued and recover is aborted. If the button is held down until recover has completed, then a message is displayed.

Sub btnRecover_MouseDown( _  
    ByVal sender As System.Object, _  
    ByVal e As System.Windows.Forms.MouseEventArgs) _  
    Handles btnRecover.MouseDown  
Dim sts As Boolean  
  
sts = m_spel.Recover()  
If sts = True Then  
    MsgBox("Recover complete")  
EndIf  
End Sub  
  
Sub btnRecover_MouseUp( _  
    ByVal sender As System.Object, _  
    ByVal e As System.Windows.Forms.MouseEventArgs) _  
    Handles btnRecover.MouseUp  
   
m_spel.Pause()  
End Sub  

C# Example:
This example executes a recover, then continue

void btnCont_Click(object sender, EventArgs e)  
{  
    bool sts;  
    DialogResult answer;  
  
    sts = m_spel.Recover();  
    if (sts == true){  
            answer = MessageBox.Show("Continue?", "",  
            MessageBoxButtons.YesNo);  
        If (answer == DialogResult.Yes)  
            m_spel.Continue();  
    }  
}  

In the example below, the cycle continues after recover is run. This example shows how the recover action is run as long as the button is held down. If the button is released during the recover motion, a pause is issued and recover is aborted. If the button is held down until recover has completed, then a message is displayed.

  void btnCont_Click(object sender, EventArgs e)  
  {  
    bool sts;  
  
    sts = m_spel.Recover();  
    if (sts == true)  
        MessageBox.Show("Recover complete");  
  }  
  
  void btnRecover_MouseUp(oject sender, EventArgs e)  
  {  
    m_spel.Pause();  
  }