Hi,
when using Auto External , which signal is used to stop the program? the $MOVE_ENABLE ?
Thanks
Which signal stop the program running with Auto External
- irobot
- Thread is marked as Resolved.
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YES
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I always use interrupts with the BRAKE and RESUME statements inside of them.
The flag which is linked to the interrupts is set from within the SPS.My usual program structure is like the following:
Code
Display MoreDEF main_application_loop( ) ;INT_stop is a global boolean variable INTERRUPT DECL 16 WHEN INT_stop DO int16_stop() INTERRUPT ON 16 LOOP isr_called_from_cycle=FALSE WAIT SEC 0.012 ;this prevents overloading the CPU ;here i am waiting for requests from SPS IF cycle1_request THEN cycle1_request=FALSE cycle1_run() ENDIF ENDLOOP ENDCodeDEF cycle1_run() isr_called_from_cycle=TRUE ... actual program ... PTP ... LIN ... ... ENDCodeDEF int16_stop ( ) BRAKE F INT_stop=FALSE IF ISR_called_from_cycle THEN RESUME ;this allows the robot interpreter to return to the main_application_loop() function ;the flag allows the RESUME statement to be executed ony if a function has been ;called from within the main_application_loop, because that loop never returns ENDIF END -
You can use alternative "HALT" command without signal.
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