I have a robot cell including a couple of external axis.I have an input-signal, which is used in automatic mode to stop one of the axes into correct position.
Sometimes the operator jogs the same axis in manual mode. I would like to use the same signal in manual mode as well to stop the movement since the operator can cause damage to the
equipment by over-jogging the axis.
I think the stopping can be done with interrupts, right? But more confusing part is what to do _after_ the stop. I think it is not possible to block one direction as long as the signal is high?
I have multitasking available.