ContManualRecover

Used when execution of all tasks are to be continued with the safeguard closed when the return operation by the Recover command has been completed.
This command is intended for advanced users. You need to understand the command specification before use. When this command is used to continue task execution, it is necessary to perform a return operation (with the Recover command) to the position where the robot was located when the safeguard was opened.

Syntax
ContManualRecover

Description
To execute this command from a program, you need to set the [Enable advanced task commands] checkbox in the [Setup] menu-[System Configuration]-[Controller]-[Preferences] page of the Epson RC+.
Note that the ContManualRecover command cannot be executed from a task started by Trap SGClose even if this setting is made.

The ContManualRecover command is used when the controller, which was put in a suspended state by the safeguard open input, is resumed by the Recover instruction and the robot has completed its return operation to the position where the robot was located when the safeguard was opened.
It has the same function as the ContinueManualRecover remote input.

Unlike the Cont command, if the ContManualRecover command is executed in the WaitRecover state (i.e., while waiting for return with safeguard closed), an error occurs.
Excitation and return operation of the robot by the Recover command should be performed in advance.

Note

When executing ContManualRecover command from a program, you must understand the command specification and confirm that the system has the proper conditions for the command. Improper use such as continuous execution of a command within a loop may deteriorate the system safety.

See Also
Pause, Recover, Cont, Recover function

Example of using ContManualRecover

Function main
    Xqt 2, monitor, NoPause
    Do
        Jump P1
        Jump P2
    Loop
Fend

Function monitor
    Do
        Wait SafetyOn = True	‘Wait for the safeguard to open.
        Wait SafetyOn = False	‘Wait for the safeguard to close.
        If (CtrlInfo(1) and &H2000) = &H2000 Then
            Recover
            ContManualRecover
        EndIf
    Loop
Fend