I have an IRC5 rw6 Robot, without the option 'multitasking'.
It is connected to a Siemens Plc by profinet.
A bit that is send from the plc to the robot will be set high.
On the high level I will execute a trap routine in the robot execute some code.
I also want a handschake to the plc that the bit is received : this bit sent from robot to plc
and is set high as long as the commandbit from the plc is high, and goes low again when the command bit goes low.
Can I be absolutely sure that for every acknowledge I give, that there is alway a trap excecuted?
Or is evaluation of DI's to generate interrupts (to which my trap is connected) executed in the same cycle as the crossconnections are processed?
Execution of traps and crossconnections
-
Plc_User -
November 21, 2018 at 4:42 PM -
Thread is marked as Resolved.
-
-
There is a dedicated interrupt System Input
Inside your trap routine you can turn on an acknowledge signalAfter the interrupt is processed, you can turn the signal off again
I doesn't make sense to me to keep the acknowledge signal on while the interrupt signal is on
The interrupt is trigger by the raising edge of the signal, and should be processed only once
Again I did something similar
I read a GI and set a trap routine
Every time the GI changes the trap is trigger
Inside my trap routine I use the GI value to set the speed of the robot
It works great
Just remember that while a trap is being processed, it cannot process another interrupt if I remember correctly