RETRY monitor command Usage Considerations RETRY cannot be processed when the specified task is executing. A program cannot be resumed if it has completed execution normally or has stopped due to a HALT instruction. Parameter task Optional real value, variable, or expression (interpreted as an integer) that specifies which program task is to be executed. If no task number is specified: Task number 0 is assumed. (See the eV+ Operating System User's Guide for information on tasks.) Details This instruction restarts execution of the specified task similar to the PROCEED instruction.
After a RETRY instruction, however, the point at which execution resumes depends on the status at the time execution was interrupted. If a program step or robot motion was interrupted before its completion, use of a RETRY instruction causes the interrupted operation to be completed before execution continues normally. This allows you to retry a step that has been aborted or that caused an error. If no program step or robot motion was interrupted, the RETRY instruction has the same effect as the PROCEED instruction. NOTE : When a RETRY instruction is used to resume an interrupted motion, all motion parameters are restored to the settings in effect before the motion was interrupted.
Related Keywords PROCEED program instruction PROCEED monitor command SSTEP monitor command STATUS monitor command XSTEP monitorcommand RETRY monitor command Syntax RETRY task eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 434