INTERRUPT ON BETWEEN PTP C_PTP

rvsh · May 30th 2020

Hi,

I want to move without advance run stop to F_MOVEDOWN position.

Pseudo code:

PTP to F_MOVE2 C_PTP

PTP to F_PICK C_PTP

start interrupts

PTP to F_MOVEDOWN and stop when interrupts are triggered and Z position is saved to F_TEMP.Z

but the problem is I want to move with C_PTP between F_PICK an F_MOVEDOWN.

Interrupt ON is stopping ADVANCE run.

Is there a possibility to run INTERRUPT ON somehow between two movements without stopping advance run?

I tried to just add function and running:

CONTINUE

interrupt on etc.

but I'm worried that interrupt will be triggered before ptp to F_PICK movement end and there will be collision.

Any suggestions?

Here is the code:

Code

INTERRUPT DECL 21 WHEN $CYCFLAG[1] == FALSE DO IR_MOVESTOP()
INTERRUPT DECL 22 WHEN I_HSENS == FALSE DO IR_MOVESTOP()

go to pick pos but dont change z
;FOLD PTP F_MOVE2 Tool[1] Base[1]
$BWDSTART = FALSE
PDAT_ACT=PPDATMAX
BAS(#PTP_DAT)
FDAT_ACT=FB1
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP F_MOVE2 C_PTP
;ENDFOLD

;FOLD PTP F_PICK Tool[1] Base[1]
$BWDSTART = FALSE
PDAT_ACT=PPDATMAX
BAS(#PTP_DAT)
FDAT_ACT=FB1
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP F_PICK
;ENDFOLD

;**********************************************
;******** LIN F_MOVEDOWN **********************
;**********************************************

F_TEMP.Z = 0
INTERRUPT ON 21; $CYCFLAG[1]
INTERRUPT ON 22; $I_HSENS
MOVEDOWN()
INTERRUPT OFF 22
INTERRUPT OFF 21
$ADVANCE = 3

Display More

Code

DEF MOVEDOWN()
;FOLD LIN F_MOVEDOWN
$BWDSTART = FALSE
LDAT_ACT=LCPDATMAX
BAS(#CP_DAT)
FDAT_ACT=FB1
BAS(#FRAMES)
BAS(#VEL_CP,0.3)
ENDIF
LIN F_MOVEDOWN
;ENDFOLD
  $ADVANCE = 0
END

;********* INTERRUPT FROM SENSORS**************
DEF IR_MOVESTOP()
  INTERRUPT OFF 21
  INTERRUPT OFF 22
  BRAKE
  F_TEMP = $POS_INT
  RESUME
END

Display More

rvsh · May 30th 2020

I tried something like this.

Pseudo code:

Interrupts on

run movetopick

In this routine run three moves:

ptp to F_MOVE2 C_PTP

ptp to F_PICK C_PTP

ptp to F_MOVEDOWN

in interrupt check coordinates it POS_INT.X and POS_INT.Y is different from F_MOVEDOWN.X and F_MOVEDOWN.Y just resume - dont runt interrupt code.

INT_OMIT is used because these interrupts are used in other lines of this program too - so to not affect that code.

Will it work? Any help?

Code

BOOL INT_OMIT

DEF MOVETOPICK()
 INT_OMIT = TRUE
; go to pick pos but dont change z
;FOLD PTP F_MOVE2 Tool[1] Base[1]
$BWDSTART = FALSE
PDAT_ACT=PPDATMAX
BAS(#PTP_DAT)
FDAT_ACT=FB1
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP F_MOVE2 C_PTP
;ENDFOLD

;FOLD PTP F_PICK Tool[1] Base[1]
$BWDSTART = FALSE
PDAT_ACT=PPDATMAX
BAS(#PTP_DAT)
FDAT_ACT=FB1
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP F_PICK C_PTP
;ENDFOLD

F_TEMP.Z = 0
;FOLD LIN F_MOVEDOWN
$BWDSTART = FALSE
LDAT_ACT=LCPDATMAX
BAS(#CP_DAT)
FDAT_ACT=FB1
BAS(#FRAMES)
BAS(#VEL_CP,0.3)
LIN F_MOVEDOWN
;ENDFOLD
  $ADVANCE = 0
  INT_OMIT = FALSE
END


;********* INTERRUPT FROM SENSORS**************
DEF IR_MOVESTOP()
  IF ($POS_INT.X <> F_MOVE.X) AND ($POS_INT.Y <> F_MOVE.Y) AND (INT_OMIT == TRUE) THEN
    GOTO INT_RESUME
  ENDIF
  INTERRUPT OFF 21
  INTERRUPT OFF 22
  BRAKE
  F_TEMP = $POS_INT
INT_RESUME:
  RESUME
END

Display More

**panic mode** · May 30th 2020

"I want to move without advance run stop"

ok, just don't use anything that causes advance run stop

"Interrupt ON is stopping ADVANCE run."

No it isn't.

"I tried to just add function and running:

CONTINUE

interrupt on

but I'm worried that interrupt will be triggered before ptp to F_PICK movement end and there will be collision."

INTERRUPT ON does not cause advance run stop so do not use CONTINUE there.

stop is caused by BRAKE command after interrupt is triggered. so do not call MOVEDOWN() and remove BRAKE from ISR and there will be no stop.

rvsh · May 30th 2020

Thanks - I was mistaken regarding INTERRUPT ON stopping the advance run.

I would like to achieve movement with aproximation like this:

PTP to F_MOVE2 C_PTP

PTP to F_PICK C_PTP

PTP to F_MOVEDOWN

but I would like interrupts on (with brake) only when PTP to F_MOVEDOWN.

If the INTERRUPT ON doesn't stop advance run does this mean that the Interrupt will be on on all three moves (if $advance = 3) even if i put the command INTERRUPT ON just before F_MOVEDOWN??

Like this:

PTP to F_MOVE2 C_PTP

PTP to F_PICK C_PTP

(here INTERRUPT ON)

PTP to F_MOVEDOWN

Thank you in advance.

**panic mode** · May 30th 2020

learn to walk before you run. in this case learn about advance run before getting into interrupts.

CONTINUE is an example of command that only has effect on the very next line. but when it comes to program instuctions, this is rather an exception, not the rule...

just about everything else has effect from the moment it is set, to the moment it is rest.

that inclused interrupt on/off

rvsh · May 30th 2020

So you are saying that adding simple C_PTP (line 22) like below will do the job and all moves will be with approximation (no "approximation not possible error")?

Code

INTERRUPT DECL 21 WHEN $CYCFLAG[1] == FALSE DO IR_MOVESTOP()
INTERRUPT DECL 22 WHEN I_HSENS == FALSE DO IR_MOVESTOP()

go to pick pos but dont change z
;FOLD PTP F_MOVE2 Tool[1] Base[1]
$BWDSTART = FALSE
PDAT_ACT=PPDATMAX
BAS(#PTP_DAT)
FDAT_ACT=FB1
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP F_MOVE2 C_PTP
;ENDFOLD

;FOLD PTP F_PICK Tool[1] Base[1]
$BWDSTART = FALSE
PDAT_ACT=PPDATMAX
BAS(#PTP_DAT)
FDAT_ACT=FB1
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP F_PICK C_PTP
;ENDFOLD

;**********************************************
;******** LIN F_MOVEDOWN **********************
;**********************************************

F_TEMP.Z = 0
INTERRUPT ON 21; $CYCFLAG[1]
INTERRUPT ON 22; $I_HSENS
MOVEDOWN()
INTERRUPT OFF 22
INTERRUPT OFF 21
$ADVANCE = 3

Display More

Code

DEF MOVEDOWN()
;FOLD LIN F_MOVEDOWN
$BWDSTART = FALSE
LDAT_ACT=LCPDATMAX
BAS(#CP_DAT)
FDAT_ACT=FB1
BAS(#FRAMES)
BAS(#VEL_CP,0.3)
ENDIF
LIN F_MOVEDOWN
;ENDFOLD
  $ADVANCE = 0
END

;********* INTERRUPT FROM SENSORS**************
DEF IR_MOVESTOP()
  INTERRUPT OFF 21
  INTERRUPT OFF 22
  BRAKE
  F_TEMP = $POS_INT
  RESUME
END

Display More

DannyDJ · May 31st 2020

Hello, you can also try and use trigger command beetwen points to turn it on...

**panic mode** · May 31st 2020

Quote

So you are saying that adding simple C_PTP (line 22) like below will do the job and all moves will be with approximation (no "approximation not possible error")?

no.... i did not say all of them. but that would make move in line 22 approximated.

however i would advise to consider using different motion type there if you are going to approximate.

i stated that you seem to battle on two fronts and get dragged into interrupts programming while still unclear on advance run.

one simple thing to try is:

if you suspect that INTERRUPT ON/OFF is causing advance run stop, comment them out and see if the motions are blended. or read system variable manual and try $stopnoapprox....

rvsh · May 31st 2020

I will try if the code works with blended moves. If not I will try to use TRIGGER - that looks like very good idea - Hadn't thought about it this way. Thanks DannyDJ!

Panic Mode - I know how advance run works and I need to use interrupts. I don't know any other more effective solution to stop at search path. Still I learned something - thank you. I read a lot of your answers on forum and you helped me many many times even that you didn't know it

$stopnoaprox isn't a solution - message is not important - not blended moves are.

I will publish results tommorow.

rvsh · Jun 2nd 2020

Hi,

Last code works ok. Just C_PTP and moves are blended and interrupts are on. Thank you Panic Mode.

TRIGGER doesn't work - there is an error that INTERRUPT ON must be placed on new line.

Thanks for help

**panic mode** · Jun 2nd 2020

You can place it into a subprogram and call it by trigger. Dont forget to specify priority.

DannyDJ · Jun 2nd 2020

Quote from rvsh

Hi,

Last code works ok. Just C_PTP and moves are blended and interrupts are on. Thank you Panic Mode.

TRIGGER doesn't work - there is an error that INTERRUPT ON must be placed on new line.

Thanks for help

Display More

To me it does work, you just have to try harder

INTERRUPT ON BETWEEN PTP C_PTP

rvsh May 30th 2020

Advertising from our partners

How to see your Job Posting (search or recruit) here in Robot-Forum.com

Robotics Technician - Detroit/Ann Arbor area - Radwell International

Share

Tags