Interrupt or other mechanism to reset program

krzych · February 15, 2014 at 9:26 AM

I have two programs running concurrently. I want to achieve functionality like described below:

Prog1:

Code

NOP
WHILE TRUE
'do something
ENDWHILE
END

Prog2:

Code

IF B000=1 THEN
   'reset main program
   'set robot in hold state
ENDIF


IF B001=1 THEN
   'only hold main program
ENDIF

Program1 runs main robot program (movements) etc.
Program2 monitors some variables and when they get specified values there are two options:
first: reset main program to first line and hold programs execution
second: hold programs execution

How can I achieve it in INFORMIII?

//I have found ABORT instruction but it requires reselecting job in job select window and it will be inconvenient

Will PAUSE instruction work for stopping jobs as described? Will it stop all jobs execution until start is pressed?

potis · February 15, 2014 at 9:01 PM

you need to work with interrupts. for the hold it is a very easy. for resseting the program inside the interrupt you will have a JUMP to your main job. in the first line of your main job you must add CLEAR STACK.
very easy!!

krzych · February 16, 2014 at 9:21 AM

OK potis thanks for that, especially for clue that I should also clear stack.

But how can I trigger interrupt with BVariable as in my code sample? I see that interrupts can be trigerred only with inputs of robot. Is it possible to set input in program? Or is there something like variable signal numbers?

potis · February 16, 2014 at 7:41 PM

interrupts are only triggered with inputs. if you want to use variables you must intercontect them by using DIN instuction in another job that will run si,utaneously. for this you can make a system job that will run on the backround always

krzych · February 16, 2014 at 11:31 PM

DIN stores physical input on/off status in byte. I don't want to have physical signal, i want to trigger interrupt with changing variable.

No physical input.

Prog1 (main)

Code

NOP
MOVE ..
MOVE ..
MOVE ..
END

Prog2 (background)

Code

NOP
IF condition THEN
SET B000
ENDIF
END

And B000 should trigger interrupt.

potis · February 17, 2014 at 8:47 AM

then in the backround program connect the variable to an output :

if B000=1 then
DOUT #(1)=ON
endif

and connect through the ladder the output with an input that you can monitor in trigger.

krzych · February 20, 2014 at 10:02 PM

OK I have done things like you adviced:

I have:

Prog1

Code

NOP
EIN LEVEL=1
PSTART PROG_MOVE SUB1
PSTART PROG_MONIT SUB2
END

PROG_MOVE

Code

NOP
...
MOVEJ
MOVEJ
...
END

PROG_MONIT

Code

WHILE ALWAYS_TRUE 
IF B001 = 1 THEN
   DOUT(57)
ENDIF
ENDWHILE

INTERRUPT_JOB

Code

NOP
SET UALM
JUMP JOB:Prog1
END

Interrupt is triggered alarm is set but I've get also parallel instruction error so I think it is not correct way at all.

Another problem is when i call function from PROG_MOVE. Interrupts during function execution does not work.

Could someone post an example of described functionality in INFORM??

potis · February 21, 2014 at 9:30 AM

the parallel instruction error is because you have 2 same programs (with same Robot control) in the main and in sub1.
make your monitor a backroung Logic and your moving program execute it in the main. why do you want to use variable for triggering the output? using the same variables in multiple programs is not good because sometimes the program will freeze (bug)

krzych · February 21, 2014 at 5:34 PM

What do you mean by making as a background logic? Can you give some simple example how to achieve functionality I've described?

I'm using variables as flags, I can also use some outputs connected in ladder to inputs if it is problem using variables in multiple progs.

Could someone provide manual of using concurrent jobs on Motoman robots?

potis · February 24, 2014 at 2:19 PM

for the backround Logic please search the yaskawa forum for system job. and yes please do not use flags but i/o. when multiple programs are using the same variable you could end up that the program is Frozen and everyhting is ok (green lights, no alarm). this is a bug that i have found

scotty · February 25, 2014 at 7:46 AM

sorry for stupid question, but how u run parallel job:?

krzych · February 25, 2014 at 8:05 PM

With PSTART instruction.

jejbr84 · February 25, 2014 at 11:26 PM

We have also encountered the same freeze bug Potis. Reported it to Motoman, but it does not look like they will fix it. Seems like a multi threading issue to me. We also solved it by using I/O.

And to setup a background job: create a new job and configure it as 'concurrent'.

krzych · February 26, 2014 at 10:28 AM

jejbr84

Both jobs should be defined as concurrent?

How to restart jobs from one of them (see my question about resetting and not resetting main program)?

alex6885 · February 26, 2014 at 8:10 PM

I hope you helpful ......

--------------------------------------------------------
'MAIN PROGRAM !
---------------
NOP
DOUT OT#(57) OFF
CLEAR STACK
*LABEL
CALL JOB:MOVE
JUMP *LABEL
END
--------------------------------------------------------
' MOVE PROGRAM !
-----------------
NOP
MOVL C00000
EI
MOVL C00001
MOVE C00002
MOVE C00003
DI
END
--------------------------------------------------------
' INTERRUPT JOB: !
------------------
NOP
SET UALM ....
IMOV P0150 V=1500.0
CALL JOB:CYCLE
END
------------------------------------------------------
'SYSTEM PROGRAM !
---------------
NOP
*BEGIN
IF B001 = 1 THEN
'ENABLE INTERRUP
DOUT OT#(57) ON
ENDIF
DELAY 100
JUMP *BEGIN
END
--------------------------------------------------------

krzych · February 28, 2014 at 10:00 AM

Alessandro: You shown how to restart job when it is started with CALL instruction.

How to reset it when I've started it with PSTART (for example I have controller with two arms)

Let's say that in main program instead of CALL JOB:MOVE it is PSTART JOB:MOVEARM1; PSTART JOB:MOVEARM2

How to abort subtask execution??

jejbr84 · February 28, 2014 at 12:44 PM

You can restart everything with the 'master job call' input (SIN#0049). Just couple it to an output in the CIO and set the output from your job if you want to reset.
Then clear the stack. What I use is this at the top of the master job:

DI
CWAIT
SFTOF
CLEAR STACK

The answer to your question about concurrent jobs:
There can be only one robot job (per robot), because otherwise two jobs could move the robot at the same time which is obviously not desired. All the other jobs should be concurrent. For example a concurrent master job that calls/pstarts a robot job and another concurrent job.

Jacopo Dinicoli · May 12, 2023 at 5:21 PM

Hi,

I have a YRC1000 yaskawa controller.

I'm having trouble with my Interrupt job function: it worked a couple of times, but then it doesn't work anymore and it ignores the interrupt function.

Here's the code:

NOP

EI

SFTON P010 RF

MOVL V=6000 PL=0 UNTIL IN#(7)=ON

MOVL V=6000 PL=0

SFTOF

DOUT OT#(7) OFF

DI

END

Thank you in advance!

95devils · May 13, 2023 at 2:51 PM

Quote from Jacopo Dinicoli

Hi,
I have a YRC1000 yaskawa controller.
I'm having trouble with my Interrupt job function: it worked a couple of times, but then it doesn't work anymore and it ignores the interrupt function.
Here's the code:
NOP
EI
SFTON P010 RF
MOVL V=6000 PL=0 UNTIL IN#(7)=ON
MOVL V=6000 PL=0
MOVL V=6000 PL=0
SFTOF
DOUT OT#(7) OFF
DI
END

Thank you in advance!

Display More

What does the job look like that will run when the interrupt occurs?

The would be the highest job on the interrupt list. Is the General Purpose input that you assigned to the interrupt changing from OFF to ON?

Jacopo Dinicoli · May 15, 2023 at 9:59 AM

Hi, sorry for my late reply
this is the interrupt job:

NOP

GETS PX011 $PX006

CNVRT PX011 PX011 BF TL#(3)

MOVJ P011 VJ=15.00

RET

END

Also I'm simulating manually the input to get the interrupt to work but the output that I assigned to verify that the interrupt is working isn't changing from OFF to ON.

It's weird because I've tried with the real robot and with motosim, and both times it worked like once or twice (at random moments, not even in sequence, without changing anything) and then no more

Interrupt or other mechanism to reset program

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