Recover Statement

Executes safeguard position recovery and returns status.

This is for the experienced user and you need to understand the command specification before use.

Syntax
(1) Recover robotNumber | All

(2) Recover robotNumber | All , WithMove | WithoutMove

Parameters

robotNumber

Specify the robot number to execute recovery for.

All

All robots execute recovery. If omitted, same as All.

WithMove

A constant whose value is 0.

Returns to excitation and moves to the position at which the safeguard was opened. If omitted, same as WithMove.

WithoutMove

A constant whose value is 1.

Only the return of excitation is performed. Not usually used. Realizes the special recovery with AbortMotion.

Description
To execute this command from a program, you must turn on the [Enable advanced task commands] checkbox in the [Setup] menu-[System Configuration]-[Controller]-[Preferences] page of the Epson RC+.

Recover can be used after the safeguard is closed to turn on the robot motors and move the robot back to the position it was in when the safeguard was open with low power PTP motion. After Recover has completed successfully, you can execute the Cont or ContManualRecover to continue the cycle.

When more than one robot is used in the controller and All is specified, all robots are recovered.

See Also
AbortMotion, Cont, Recover Function, RecoverPos, ContManualRecover

Recover Statement Example

CAUTION

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

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

Function monitor
    Do
        If Sw(SGOpenSwitch) = On then
            Wait Sw(SGOpenSwitch) = Off and Sw(RecoverSwitch) = On
            Recover All
        EndIf
    Loop
Fend