Hello!
I read topic "Cancel motion using interrupt" on this forum, i need to use Resume and interrupt instructions for the same purpose (stopping current LIN motion and go to the next command by signal). But code example, which i found in this topic, even after i correct all syntax mistakes, doesn't work. I got error: "Unacceptable program structure for RESUME" (It's mine translation from russian, mb originally it calls differently). What did I do wrong?
I wrote about RESUME in some KUKA's manuals, but can't find correctly working example.
Code
&ACCESS RVP
&REL 100
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
DEF teststop( )
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
$pal_mode=true
PTP XHOME
prob()
END
DEF prob()
LIN XP14
INTERRUPT DECL 1 WHEN $IN[1]==true DO search()
motion()
LIN XP16
END
DEF motion()
INTERRUPT ON 1
LIN XP13
INTERRUPT OFF 1
END
DEF search()
BRAKE
RESUME
END
Display More
Thank you in advance.