RETURNE program instruction RETURNE program instruction Syntax RETURNE Function Terminate execution of an error reaction subroutine and resume execution of the last- suspended program at the step following the instruction that caused the subroutine to be invoked. Details The RETURNE instruction is intended for use in error reaction subroutines. That is, subroutines that are invoked, through the REACTE mechanism, as a result of an error during program execution. If a RETURNE instruction is used to exit from an error reaction routine, the program reaction priority is restored to whatever it was before the error reaction routine started execution.
When a RETURNE instruction is executed in an error reaction subroutine, then execution continues with the statement following the one executing when the error occurred. (Note that in this situation, a RETURN instruction results in the statement that generated the error being executed again, possibly causing an immediate repeat of the error.) NOTE: Because of the forward processing ability of eV+, the instruction that is the source of an error may not be the one executing when the error is actually registered. For example, when a MOVE instruction is processed, the robot begins moving, but during the motion several additional instructions may be processed.
If an envelope or similar error occurs after this forward processing, the RETURNE is based on the instruction processing when the error occurs, not the MOVE instruction. It may be helpful to note that the RETURNE instruction behaves similarly to the PROCEED command. The RETURN instruction behaves similarly to the RETRY command (except that with RETURN an interrupted robot motion is not restarted). A RETURNE instruction in a program that is not executed in response to an error has the same effect as a RETURN instruction. RETURNE, however, takes slightly longer to execute than does RETURN.
Related Keywords REACTE program instruction RETURN program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 437