Omron SCARA YRCX Series, Programming Manual, Page: 226 / 506

8-134 Chapter 8 Robot Language Lists
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67 ON ERROR GOTO
Jumps to a specified label when an error occurs
Format
1. ON ERROR GOTO label
2. ON ERROR GOTO 0
Values Error output information ........ERR: Error code number
ERL: Line number where error occurred
Explanation Even if an error occurs during execution of the robot language, this statement allows
the program to jump to the error processing routine specified by the < label >, allowing
the program to continue without being stopped (this is not possible for some serious
errors.)
If "0" is specified instead of the < label >, the program stops when an error occurs, and
an error message displays.
If ON ERROR GOTO "0" is executed at any place other than an error processing
routine, the ON ERROR GOTO command is canceled (interruption canceled).
The error processing routine can process an error using the RESUME statement and
the error output information (ERR, ERL).
• If a serious error such as "17.800: Motor overload" occurs, the program execution stops.
• The most recently executed "ON ERROR GOTO <
label >" statement is valid.
• If an error occurs during an error processing routine, the program will stop.
• "ON ERROR GOTO <
label >" statements cannot be used within error processing routines.
SAMPLE
ON ERROR GOTO *ER1
FOR A = 0 TO 9
P[A+10] = P[A]
NEXT A
*L99: HALT
’ERROR ROUTINE
*ER1:
IF ERR = &H000600CC THEN *NEXT1 ·
Checks to see if a "Point doesn't
exist" error has occurred.
IF ERR = &H000600CE THEN *NEXT2 · Checks to see if a "Subscript out of
range" error has occurred.
ON ERROR GOTO 0 ················· Displays the error message and stops
the program.
*NEXT1:
RESUME NEXT ·················· Jumps to the next line after the error
line and resumes program execution.
*NEXT2:
RESUME *L99 ·················· Jumps to label *L99 and resumes program
execution.
Related commands RESUME
MEMO