Writing Homeout Routine using an Interrupt

Below is some sample code, I am just looking at how to successfully pull off full homeout using an interrupt.

Currently it doesn't fully reset the program. Even though I am doing so in the SPS. It returns to the main and tries to start moving from where it left at.

More of what I am asking is how to I get it to fully stop and never go back to the Main.

Should I ramp stop the robot at the end of its homeout routine and wait for the PLC signal of reset prg?

Thanks,

DEF B5805R( )

   DECL INT LOCALSEQUENCE

   DECL INT LOCALSEQUENCE2

   DECL INT LOCALKUKATOHMI

   ;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)

   INTERRUPT DECL 5 WHEN $IN[1]==FALSE DO LOSTVACUUM()

   INTERRUPT DECL 4 WHEN $IN[30]==TRUE DO HOMEOUT()

   wait sec 0

   LOCALKUKATOHMI = 'B00000000'

   GLOBALKUKATOHMI = LOCALKUKATOHMI

   $OUT[71] = FALSE

   $OUT[7] = FALSE

      $OUT[8] = FALSE

         $OUT[10] = FALSE

            $OUT[11] = FALSE

               $OUT[12] = FALSE

                  $OUT[13] = FALSE

                     $OUT[14] = FALSE

                        $OUT[15] = FALSE

                           $OUT[16] = FALSE

                              $OUT[17] = FALSE

                           $OUT[18] = FALSE

                        $OUT[19] = FALSE

                     $OUT[20] = FALSE

                  $OUT[21] = FALSE

               $OUT[22] = FALSE

            $OUT[23] = FALSE

         $OUT[24] = FALSE

      $OUT[25] = FALSE

   $OUT[26] = FALSE

   $OUT[27] = FALSE

   $OUT[28] = FALSE

   $OUT[29] = FALSE

   $OUT[50] = FALSE

   $OUT[72] = FALSE

   ;FOLD PTP HOME  VEL= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT

      $BWDSTART = FALSE

      PDAT_ACT=PDEFAULT

      FDAT_ACT=FHOME

      BAS (#PTP_PARAMS,100 )

      $H_POS=XHOME

      PTP  XHOME

   ;ENDFOLD

   LOOP

WAIT SEC 0

INTERRUPT ON 4

;FOLD PTP P15 VEL=100 % PDAT1 TOOL[1]:PPEOAT BASE[4]:I/O;%{PE}%R 8.3.48,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P15, 3:, 5:100, 7:PDAT1

$BWDSTART=FALSE

PDAT_ACT=PPDAT1

FDAT_ACT=FP15

BAS(#PTP_PARAMS,100)

PTP XP15

;ENDFOLD

;PICKUP POSITION MAIN

 LOCALKUKATOHMI = 'B00001001'

 GLOBALKUKATOHMI = LOCALKUKATOHMI

     LOCALSEQUENCE = GLOBALSEQUENCE

WAIT SEC 0

     SWITCH LOCALSEQUENCE ; PICKUP

         CASE 1

             LOCALKUKATOHMI = 'B00000000'

             GLOBALKUKATOHMI = LOCALKUKATOHMI

END



DEF HOMEOUT()

BRAKE

WAIT SEC 0

INTERRUPT OFF 5

WAIT SEC 0

IF $IN[30] THEN

            WAIT SEC 0

 IF $IN[1] == TRUE THEN

   $OUT[29] = TRUE

      WAIT FOR $IN[1] == FALSE

         $OUT[8] = FALSE

         PULSE($OUT[7], TRUE,1)

   $OUT[29]=FALSE

 ENDIF

IF GLOBALKUKATOHMI == 0 THEN

WAIT SEC 0

      PTP XHOME

WAIT FOR $IN[31]

ENDIF

END

So I just sent the snippet. This is some code that has compiled and has been running for over two years now. If you want me to post all of the code I can.

I'm not worried about the code "running" because it already has been. I am more concerned about the homeout routine when using an interrupt and how it doesn't reset the program fully. Then it just goes back into the program and tries to run from where it left.

Here is the full text file. What I mean by it doesn't reset fully is it only resets sometimes. It will work here and there, but not consistently. "Homeout" is for the robot to homeout from where it is at. I didn't write this code, so to me it is also a jumble to figure it out. I am trying to improve it. In the program binary values are set at certain points, and when the homeout interrupt happens, homeout subprogram looks at the binary value and does moves to get home. Then it is supposed to reset the program. Instead it will go back to the program and give a reposition error. If I add resume it will start back from where it left. I do not want it to do that. I want it to reset the program once it homes out. I am getting the reset prg bit from the plc, but for whatever reason it only works here and there. If you need anymore information let me know. I am not trying to be vague. I am trying to be straight to the point.

Thanks.

My bad panic mode. 1. So I want the program to reset, so it closes the program and opens it at the beginning and starts from the beginning. 2. So the interrupt routine will take the robot home and then once its home it jumps back into the main operating program. I have never learned the resume command or have used it in a practical application. Everything I read about the RESUME makes it sound like when I put that into an interrupt specifically my interrupt I will go home then go back into the program and try to go to whatever position I was at when I left. Any example code on CWRITE? And this HOMEOUT isnt different. I just posted a small snippet of the beginning of the subprogram. Mentat I say homeout, because that is our common language in our shop. The robot goes home thats what I mean by homeout. Do you want to see the code in my SPS file?

Quote from DannyDJ

Hello. Do you try and stop the robot first in your interrupt routine with HALT statement? I think from your description that during the robot movement you cant just cancel or reset the program(like if you have robot in EXT, you cant just press reset program during program execution, must put it to T1... before press program stop, robot stops, then you can reset program and back to EXT, same way applies from trying to reset from program in EXT mode, just you dont have to put in T1, but robot must stop first) ... You have to stop the robot movement first, that is why you describing that sometimes it works sometimes not...

I already did this some time ago also, just have to find the code...

Yes, in the homeout subroutine there is a BRAKE at the beginning. Should I use HALT or BRAKE after every XHOME move? I understand what you are saying, I only have one project under my belt so I am relatively new to this. So, trying to fix someone else' mistakes is not my strong-suit yet.

Thanks!

Ok thanks so much! I appreciate your help. I will be able to try the code within the next week or so hopefully.