Hi ,
I'm programming a ABB 6400 S4C M97 for the first time using a interrupt. my program looks like this :
clear count
label:
CONNECT intno1 WITH TrapRoutine
ISignalDI\Single,di_01,1,intno1
MoveL P1
MoveL P2
incr count
IF count <= 2 GOTO label
MoveJ Home
IDelete intno1
The signal di_01 goes high anywhere in between P1 and P2 , but the trap routine is called at the end of the MoveL P2 .
I want the robot to stop the execution of MoveL P2 movement as soon my di1_01 is made and execute my trap routine .
What I am missing?