Interrupt "Instruction inadmissible"

st1tchy · November 21, 2018 at 10:09 PM

I am having trouble with an interrupt function. I want to have the robot move down until a sensor is made and then stop and run a different move. It gets to the interrupt, the sensor comes on, and then I get "Inadmissible instruction." I am not sure what I have done wrong.

Code

;Pick pounce
;FOLD PTP PkPnc CONT Vel=100 % PkPnc Tool[2]:VACUUM Base[1]:B CONTAINER;%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:PkPnc, 3:C_DIS, 5:100, 7:PkPnc
$BWDSTART=FALSE
PDAT_ACT=PPkPnc
FDAT_ACT=FPkPnc
BAS(#PTP_PARAMS,100)
PTP XPkPnc C_DIS
;ENDFOLD


;Pick
INTERRUPT DECL 1 WHEN $IN[33]==TRUE DO Liner()
PickLiner()
INTERRUPT OFF 1




;Liner pick
;FOLD LIN LINERPICK Vel=0.5 m/s LINERPICK Tool[2]:VACUUM Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:LINERPICK, 3:, 5:0.5, 7:LINERPICK
$BWDSTART=FALSE
LDAT_ACT=LLINERPICK
FDAT_ACT=FLINERPICK
BAS(#CP_PARAMS,0.5)
LIN XLINERPICK 
;ENDFOLD

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Code

DEF  PickLiner ( )   
INTERRUPT ON 1


;FOLD LIN PICK Vel=2 m/s PICK Tool[2]:VACUUM Base[1]:B CONTAINER;%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:PICK, 3:, 5:2, 7:PICK
$BWDSTART=FALSE
LDAT_ACT=LPICK
FDAT_ACT=FPICK
BAS(#CP_PARAMS,2)
LIN XPICK 
;ENDFOLD


;Wait 0 to prevent prescan
;Needed for INTERRUPT to function
;FOLD WAIT Time=0 sec;%{PE}%R 8.3.44,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 3:0
WAIT SEC 0
;ENDFOLD


END

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Code

DEF Liner( )


INTERRUPT OFF 1
BRAKE


XCurPos = $POS_ACT
LINERPICK.Z = XCurPos.Z - 965


RESUME


END

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**panic mode** · November 21, 2018 at 10:38 PM

You never activated it

st1tchy · November 21, 2018 at 10:42 PM

Isn't that what INTERRUPT ON 1 is doing on the first line of PickLiner()?

**panic mode** · November 22, 2018 at 2:10 AM

you are right, did not see that (hard to read code on mobile)

what instruction or line of code it is complaining about?

motion to be aborted is in subroutine ending with wait sec 0. this is good.
interrupts is turned off after sub call, this is good
ISR routine is using $POS_ACT, this need to be changed to $POS_INT
assignment that follows uses non-existent variable, should be prefixed with x.

st1tchy · November 23, 2018 at 2:16 PM

It locks up at the LIN move in PickLiner() immediately after the trigger comes on. It will move down just fine using that LIN move until the trigger comes on, then it stops and says Instruction Inadmissible.

I have made the changes you suggested and that didn't seem to make a difference.

Code

;Pick pounce
;FOLD PTP PkPnc CONT Vel=100 % PkPnc Tool[2]:VACUUM Base[1]:B CONTAINER;%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:PkPnc, 3:C_DIS, 5:100, 7:PkPnc
$BWDSTART=FALSE
PDAT_ACT=PPkPnc
FDAT_ACT=FPkPnc
BAS(#PTP_PARAMS,100)
PTP XPkPnc C_DIS
;ENDFOLD


;Pick
INTERRUPT DECL 1 WHEN $IN[33]==TRUE DO Liner()
PickLiner()
INTERRUPT OFF 1




;Liner pick

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Code

INTERRUPT ON 1


;**********IT LOCKS UP ON THIS LINE AFTER INTERRUPT TRIGGERS**********
;FOLD LIN PICK Vel=2 m/s PICK Tool[2]:VACUUM Base[1]:B CONTAINER;%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:PICK, 3:, 5:2, 7:PICK
$BWDSTART=FALSE
LDAT_ACT=LPICK
FDAT_ACT=FPICK
BAS(#CP_PARAMS,2)
LIN XPICK 
;ENDFOLD


;Wait 0 to prevent prescan
;Needed for INTERRUPT to function
;FOLD WAIT Time=0 sec;%{PE}%R 8.3.44,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 3:0
WAIT SEC 0
;ENDFOLD


END

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Code

INTERRUPT OFF 1
BRAKE


XCurPos = $POS_INT
XLINERPICK.Z = XCurPos.Z - 965


RESUME


END

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PJonHar · November 23, 2018 at 5:08 PM

Starting with a LIN move is annoying!

try adding PTP $AXIS_ACT ?

st1tchy · November 23, 2018 at 5:18 PM

Quote from PJonHar

Starting with a LIN move is annoying!

try adding PTP $AXIS_ACT ?

In which routine? PickLiner()?

st1tchy · November 23, 2018 at 7:03 PM

Figured it out. There was an INI fold in the interrupt program that it didn't like. Once I got rid of that, it ran just fine.

**panic mode** · November 23, 2018 at 8:47 PM

that was not shown in any of your posts.

Anirudh · January 9, 2022 at 5:07 PM

Can there be any other reason for this same error, because it is popping up even after removing the INI command from the interrupt program. Rest all seems same, error in my case is also coming in LIN command.

**panic mode** · January 9, 2022 at 5:21 PM

KRC has unfair advantage that it can see the code.

Interrupt "Instruction inadmissible"

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