Interrupt Example

**SkyeFire** · March 18, 2021 at 8:25 PM

There have been a lot of redundant questions about Interrupt handling lately, so I decided to make a heavily-commented example file that should (Hopefully!) point people with the same questions to as a starting point.

I don't have a KRC handy to test this on, though, so I can't guarantee I haven't missed something subtle here.

Code

&ACCESS RVO1
&COMMENT 
DEF InterruptExample ( )
  ;FOLD INI
  ;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)
  
  ;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
  
  ;=============================================================================
  ; First example:  Perform search motion and stop when the interrupt is tripped
  
  ; Set up Interrupt condition
  ; Interrupt will only fire when $IN[1] changes from False to True
  INTERRUPT DECL 10 WHEN $IN[1] DO SearchAndStopISR()
  
  ;FOLD PTP StartSearch  Vel=100 % PDAT1 Tool[0] Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:StartSearch, 3:, 5:100, 7:PDAT1
  $BWDSTART=FALSE
  PDAT_ACT=PPDAT1
  FDAT_ACT=FStartSearch
  BAS(#PTP_PARAMS,100)
  PTP XStartSearch 
  ;ENDFOLD
  
  ; execute motion during which Interrupt is expected  
  SearchAndStop()
  ; The program pointer will jump back to this line
  ;when the RESUME command in SearchAndStopISR executes
  ; That is because the INTERRUPT DECL is in this subroutine
  
  ; Move to where the robot was when the Interrupt fired
  ; This can be used to "fix" the robot's stopping distance
  IF Interrupted THEN
    LIN $POS_INT
  ELSE
    MsgNotify("No Interrupt during Search motion")
  ENDIF
  ;============================================================================
  
  ; Second Example:  Multiple interrupts WITHOUT stopping motion
  ; This could be used to measure a hole with a laser sensor by
  ;"dragging" the laser across the hole
  
  ; Set up Interrupt -- 10 on the False-to-True change of $IN[1],
  ; 11 on the True-to-False transition
  ; Note the re-use of Interrupt 10 -- an interrupt number can be "recycled" by
  ;re-DECLing it
  INTERRUPT DECL 10 WHEN $IN[1] DO RecordFirstEdgeISR() ; when laser "falls into" hole
  INTERRUPT DECL 11 WHEN NOT $IN[1] DO RecordSecondEdgeISR() ; when laser "climbs out" of hole
  
  ; position to start "dragging" the laser across the hole
  ;FOLD PTP HoleMeasureStart  Vel=100 % PDAT2 Tool[0] Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HoleMeasureStart, 3:, 5:100, 7:PDAT2
  $BWDSTART=FALSE
  PDAT_ACT=PPDAT2
  FDAT_ACT=FHoleMeasureStart
  BAS(#PTP_PARAMS,100)
  PTP XHoleMeasureStart 
  ;ENDFOLD
  
  ; Call the subroutine that will be interrupted
  SearchWithoutStopping()    
  
  ;===============================================================================
  
  ; Third example:  Stop and continue
  ; In this example, the Interrupt *pauses* the motion, but does not cancel it
  ; This example also uses a $CYCFLAG to allow the Interrupt to be fired
  ;by a complex Boolean expression
  
  ; CYCFLAG updates "live" in the background
  $CYCFLAG[1] = ($IN[1] AND NOT $IN[2]) OR $IN[3]
  
  ; Interrupt condition and action
  INTERRUPT DECL 10 WHEN $CYCFLAG[1] DO StopAndGoISR()
  
  ;FOLD PTP StopAndGoStart  Vel=100 % PDAT3 Tool[0] Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:StopAndGoStart, 3:, 5:100, 7:PDAT3
  $BWDSTART=FALSE
  PDAT_ACT=PPDAT3
  FDAT_ACT=FStopAndGoStart
  BAS(#PTP_PARAMS,100)
  PTP XStopAndGoStart 
  ;ENDFOLD
  
  ; Subroutine to be interrupted
  StopAndGoMove()  
  
  ;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
  
END
DEF SearchAndStop()
  ; This subroutine should only contain the motion that is expected to be interrupted
  
  ; arm the interrupt
  ; receiving the input before this will have no effect
  INTERRUPT ON 10
  
  ; .DAT file variable to indicate if interrupt fired
  ; not necessary, but handy  
  Interrupted = FALSE 
  
  ;FOLD LIN SearchEnd  Vel=2 m/s CPDAT1 Tool[0] Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:SearchEnd, 3:, 5:2, 7:CPDAT1
  $BWDSTART=FALSE
  LDAT_ACT=LCPDAT1
  FDAT_ACT=FSearchEnd
  BAS(#CP_PARAMS,2)
  LIN XSearchEnd 
  ;ENDFOLD
  
  ; If the interrupt fires, no code below this line will execute
  ; due to the RESUME command in the ISR
  ; Instead, the RESUME command will "cancel" the rest of this subroutine
  ; and jump the program pointer back to one line after where this subroutine was called
  
  INTERRUPT OFF 10 ; always turn off the Interrupt as soon as it's no longer needed
  
  MsgNotify("Reached SearchEnd without triggering Interrupt")
  
  ; break Advance Run Pointer.
  ; This is needed to ensure the ARP does not 
  ;get back to the top level program before the interrupt fires
  WAIT SEC 0
  
END
DEF SearchAndStopISR()
  ; This routine is only called when the Interrupt fires
  
  ; this should always be first in any Interrupt Service Routine (ISR)
  ; to protect against double-firing the interrupt
  INTERRUPT OFF 10
  
  Interrupted = TRUE 
  
  ; Stops the robot physical motion.  
  ; The 'F' is optional, but makes the robot stop faster
  BRAKE F ;
  
  ; cancel the motion that was active when the Interrupt fired
  RESUME
  
END
DEF SearchWithoutStopping()
  
  ; Arm interrupts
  INTERRUPT ON 10
  INTERRUPT ON 11
  
  ; use these to check if edges were found
  FoundFirstEdge = FALSE
  FoundSecondEdge = FALSE
  
  ; move to be interrupted
  ;FOLD LIN HoleMeasureEnd  Vel=2 m/s CPDAT2 Tool[0] Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:HoleMeasureEnd, 3:, 5:2, 7:CPDAT2
  $BWDSTART=FALSE
  LDAT_ACT=LCPDAT2
  FDAT_ACT=FHoleMeasureEnd
  BAS(#CP_PARAMS,2)
  LIN XHoleMeasureEnd 
  ;ENDFOLD
  
  ; in case the ISRs did not fire
  ; this is an important safety net
  INTERRUPT OFF 10
  INTERRUPT OFF 11
  
  ; Check if both edges were found
  IF NOT FoundFirstEdge THEN
    MsgNotify("Did not find first edge!")
  ENDIF
  IF NOT FoundSecondEdge THEN
    MsgNotify("Did NOT find second edge!")
  ENDIF
  
  ; break Advance Run Pointer.
  ; This is needed to ensure the ARP does not 
  ;get back to the top level program before the interrupt fires
  WAIT SEC 0
  
END
DEF RecordFirstEdgeISR()
  ; This routine is only called when the Interrupt fires
  ; without a BRAKE command, the robot will not stop!
  ; without a RESUME command, the active motion will complete normally!
  
  ; this should always be first in any Interrupt Service Routine (ISR)
  ; to protect against double-firing the interrupt
  INTERRUPT OFF 10
  
  ; Record TCP position when iterrupt fired
  ; Robot DOES NOT STOP!
  FirstEdgePos = $POS_INT
  
  ; flag that edge was found
  FoundFirstEdge = TRUE ;
  
END
DEF RecoredPos2()
  ; This routine is only called when the Interrupt fires
  ; without a BRAKE command, the robot will not stop!
  ; without a RESUME command, the active motion will complete normally!
  
  ; this should always be first in any Interrupt Service Routine (ISR)
  ; to protect against double-firing the interrupt
  INTERRUPT OFF 11
  
  ; Record TCP position when iterrupt fired
  ; Robot DOES NOT STOP!
  SecondEdgePos = $POS_INT
  
  ; flag that edge was found
  FoundSecondEdge = TRUE
  
END
DEF StopAndGoMove()
  
  ; arm the interrupt
  ; receiving the input before this will have no effect
  INTERRUPT ON 10
  
  ; record if Interrupt fired
  Interrupted = FALSE
  
  ; An interrupt can be active for more than one motion, if need be
  ;FOLD LIN StopAndGoMid CONT Vel=2 m/s CPDAT4 Tool[0] Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:StopAndGoMid, 3:C_DIS C_DIS, 5:2, 7:CPDAT4
  $BWDSTART=FALSE
  LDAT_ACT=LCPDAT4
  FDAT_ACT=FStopAndGoMid
  BAS(#CP_PARAMS,2)
  LIN XStopAndGoMid C_DIS C_DIS
  ;ENDFOLD
  ;FOLD LIN StopAndGoEnd  Vel=2 m/s CPDAT3 Tool[0] Base[0];%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:StopAndGoEnd, 3:, 5:2, 7:CPDAT3
  $BWDSTART=FALSE
  LDAT_ACT=LCPDAT3
  FDAT_ACT=FStopAndGoEnd
  BAS(#CP_PARAMS,2)
  LIN XStopAndGoEnd 
  ;ENDFOLD
  
  ; always make sure to disarm the interrupt after it's no longer needed
  INTERRUPT OFF 10
  
  IF NOT Interrupted THEN
    MsgNotify("No Interrupt during StopAndGo motion!")
  ENDIF
  
  ; break Advance Run Pointer.
  ; This is needed to ensure the ARP does not 
  ;get back to the top level program before the interrupt fires
  WAIT SEC 0
  
END
DEF StopAndGoISR()
  ; Interrupt Service Routine
  ; This ISR simply stops the robot temporarily,
  ;then lets the interrupted motion continue
  
  INTERRUPT OFF 10 ; disarm interrupt
    
  $OUT[1] = TRUE ; turn on output while motion is paused
  
  BRAKE ; bring the robot to a halt
  
  WAIT SEC 5 ; wait for 5 seconds
  
  $OUT[1] = FALSE ; turn output off as motion continues
  
  ; Re-arm interrupt
  ; This will allow the robot to be paused at multiple
  ;times during the StopAndGo motion
  INTERRUPT ON 10 
  
END

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Code

;&ACCESS RVO1
&COMMENT 
DEFDAT InterruptExample PUBLIC
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications

;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLERATIONS)

DECL BOOL Interrupted = FALSE
DECL BOOL FoundFirstEdge = FALSE
DECL BOOL FoundSecondEdge = FALSE

DECL E6POS FirstEdgePos = {X 0}
DECL E6POS SecondEdgePos = {X 0}

DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "StopAndGoMid",POINT2[] "StopAndGoMid",CP_PARAMS[] "CPDAT4",PTP_PARAMS[] "PDAT3",CONT[] " ",CP_VEL[] "2",PTP_VEL[] "100",SYNC_PARAMS[] " ",SPL_NAME[] " "}
DECL E6POS XStartSearch={X 0,Y 0,Z 0,A 0,B 0,C 0,S 0,T 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
DECL FDAT FStartSearch={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100,ACC 100,APO_DIST 100,APO_MODE #CPTP,GEAR_JERK 50}
DECL E6POS XSearchEnd={X 0,Y 0,Z 0,A 0,B 0,C 0,S 0,T 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
DECL FDAT FSearchEnd={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT1={VEL 2,ACC 100,APO_DIST 100,APO_FAC 50,AXIS_VEL 100.0,AXIS_ACC 100.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0,GEAR_JERK 50.0,EXAX_IGN 0}


DECL E6POS XHoleMeasureStart={X 0,Y 0,Z 0,A 0,B 0,C 0,S 0,T 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
DECL FDAT FHoleMeasureStart={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT2={VEL 100,ACC 100,APO_DIST 100,APO_MODE #CPTP,GEAR_JERK 50}
DECL E6POS XHoleMeasureE nd={X 0,Y 0,Z 0,A 0,B 0,C 0,S 0,T 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
DECL FDAT FHoleMeasureE nd={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT2={VEL 2,ACC 100,APO_DIST 100,APO_FAC 50,AXIS_VEL 100.0,AXIS_ACC 100.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0,GEAR_JERK 50.0,EXAX_IGN 0}
DECL E6POS XHoleMeasureEnd={X 0,Y 0,Z 0,A 0,B 0,C 0,S 0,T 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
DECL FDAT FHoleMeasureEnd={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL E6POS XStopAndGoStart={X 0,Y 0,Z 0,A 0,B 0,C 0,S 0,T 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
DECL FDAT FStopAndGoStart={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT3={VEL 100,ACC 100,APO_DIST 100,APO_MODE #CPTP,GEAR_JERK 50}
DECL E6POS XStopAndGoEnd={X 0,Y 0,Z 0,A 0,B 0,C 0,S 0,T 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
DECL FDAT FStopAndGoEnd={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT3={VEL 2,ACC 100,APO_DIST 100,APO_FAC 50,AXIS_VEL 100.0,AXIS_ACC 100.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0,GEAR_JERK 50.0,EXAX_IGN 0}
DECL E6POS XStopAndGoMid={X 0,Y 0,Z 0,A 0,B 0,C 0,S 0,T 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
DECL FDAT FStopAndGoMid={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT4={VEL 2,ACC 100,APO_DIST 100,APO_FAC 50,AXIS_VEL 100.0,AXIS_ACC 100.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0,GEAR_JERK 50.0,EXAX_IGN 0}
ENDDAT

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**panic mode** · March 18, 2021 at 9:22 PM

line 136 should be moved directly after line 41.

**SkyeFire** · March 19, 2021 at 2:40 PM

Hm... to avoid the ARP? I wanted the INTERRUPT OFF to follow immediately after the interruptable motion... maybe I should move the WAIT SEC 0 from 143 to 135?

**panic mode** · March 19, 2021 at 2:53 PM

no, that should stay....

the issue with 136 is that it would only be processed IF the interrupt is triggered... but if there was no trigger, interrupt would remain active even after program returns to line 42. and that is bad.... if for whatever reason that input get triggered after that line, bad things could happen. this is why programming interrupts requires good housekeeping:

declare interrupt

activate it

use it

deactivate it !!!

this last part should be done unconditionally... regardless if it was triggered or not.

the way example is structured, this would only happen IF interrupt was triggered and ISR was visited. this is something to be avoided, specially when RESUME was used.

**SkyeFire** · March 19, 2021 at 3:05 PM

Hold on... Line 136 should only ever execute if the Interrupt doesn't trigger. If the Interrupt does trigger, the RESUME command at line 160 should jump the program pointer straight back to line 42, because everything in the stack below the level where the interrupt was DECL'd gets cancelled.

Line 136 is my "cleanup" in the event that the Interrupt doesn't fire.

**panic mode** · March 19, 2021 at 4:00 PM

ooops... you are right, i missed that there is another one inside SearchAndStopISR()

**SkyeFire** · March 19, 2021 at 4:25 PM

No problem. Yeah, I try to always have INTERRUPT OFF as the first line of executable code in any of my ISRs.

**panic mode** · March 19, 2021 at 5:54 PM

i am trying to change bad habit of skimming through volume of text and picking out details, specially when responding...

btw. kudos for effort on such detailed example.

**SkyeFire** · March 19, 2021 at 7:27 PM

Quote from panic mode

i am trying to change bad habit of skimming through volume of text and picking out details, specially when responding...

Well, I'm sure that I've never done that.

Quote from panic mode

btw. kudos for effort on such detailed example.

davidina · March 22, 2021 at 5:48 PM

Quote from SkyeFire
There have been a lot of redundant questions about Interrupt handling lately, so I decided to make a heavily-commented example file that should (Hopefully!) point people with the same questions to as a starting point.
I don't have a KRC handy to test this on, though, so I can't guarantee I haven't missed something subtle here.
Code
&ACCESS RVO1
&COMMENT 
DEF InterruptExample ( )
.....
Thank you for this work!

DenisCa · July 1, 2021 at 10:38 PM

Hi,

Is it good to use WAIT FOR TRUE instead of WAIT SEC 0 in a motion subroutine ?

Thanks

**panic mode** · July 2, 2021 at 12:29 AM

both accomplish the same thing - trigger single advance run stop. it comes to personal preference. some may feel that one is more descriptive than another.

dogeautomate · July 19, 2021 at 3:41 PM

Quote from SkyeFire
There have been a lot of redundant questions about Interrupt handling lately, so I decided to make a heavily-commented example file that should (Hopefully!) point people with the same questions to as a starting point.
I don't have a KRC handy to test this on, though, so I can't guarantee I haven't missed something subtle here.
Code

SkyeFire to the rescue yet again with another awesome post One day I will get my KUKA programming course, interrupt is probably in course two.
Thank you all again i'm just lurking around here and trying to learn from all of you. Keep it up!

**panic mode** · July 19, 2021 at 4:32 PM

that is correct...

iiQKA · December 9, 2021 at 11:15 PM

Fantastic resource, thanks SkyeFyre, if only more of KUKA's documentation had such intensive examples!

ChristianLiinHansen · December 30, 2021 at 8:02 PM

Hi panic mode and SkyeFire. First of all, thanks for your effort in trying to make KUKA ISR to a pretty easy topic...

Well... I have spend almost the whole day on looking in the forum, and I am struggling with the error "Instruction $ADVANCE in interrupt inadmissible (Module: BAS Line: 154):

So how it looks in the real world is like this:

- The red cirlce indicates a sensor on the robots tool.
- The blue circle indicates a mock-up with a tri-pod with cardboard sticking out, that is used as trigger for the ISR.

I.e. when the robot starts its search towards the object, which is the mock-up in this example, I would like the robot to stop the movement and drive to home position.

The things that is happening now is that, when the robot starts its seach path and gets to the triggering point, the interrupt is fired, but I get the prompt error of: Error KSSo1425 - Instruction $ADVANCE in interrupt inadmissible

For quick overview, I have three positions:

1) xstack1home. That is a position nearby.
2) xstack1prep. That is the position, which the robot is in, in the attached left side picture.
3) xstackCalib. That is the end search position, where the interrupt will happen between the xstack1prep and xstackCalib.

As a last notice, I was not able to stop the interrupt at the tri-pod cardboard triggering point, unless I in the interrupt decl was using "WITH BRAKE". So if I remove this, the result is that the robot will move from start search position, i.e. xstack1prep to end search position, i.e. xstackCalib (and collide with the mockup) and then throw the error of $ADVANCE.

Lastly, I am pretty sure that this is all about having in control where the advance run pointer is located. I have seen different attempts to "tame the lion/ARP", but I have tried WAIT FOR TRUE, WAIT 0.1, WAIT 0, $ADVANCE = 0, etc.

Please notice, that I am using the $OUT[15-20] as pure debugging. Just for me to know if everything has carried out well.

So I would really appreciate, if there is some clue out there. For reference, the systems information are:

Robot: KUKA KR50 R2100
Controller: KR C5 dualcabinet
KSS 8.7.2 HF3
HMI version: 8.7 B394
Kernel system version: KS V8.7.53394
WorkVisual V6.0.18_Build0748

The code is below for the three modules, i.e.
- TestISR.src --> Main program
- SeachForStacks --> Submodule with starts the seach motion and awaits that the interrupt is fired.
- ISR_StackIsFound --> The interrupt service rutine, ISR.

Code: TestISR.src

&ACCESS RVP
&REL 1
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program
DEF TestISR( )
DECL REAL toolValue
;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
    
    ;Just some debugging outputs signal to monitoring the program
    $OUT[15] = FALSE
    $OUT[16] = FALSE
    $OUT[17] = FALSE
    $OUT[18] = FALSE
    $OUT[19] = FALSE
    $OUT[20] = FALSE
    toolValue = $ANIN[1]

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)

; Using the cycle flag to check the analog input. The value is without stack equal to 10.0, but the program sees it as 1.0.
; Therefore the values is between 0.0 and 1.0. If the value is equal to 1.0, there is no stacks. 
$CYCFLAG[1]= ($ANIN[1] < 1.0)

;// Interrupt instruction -- Using the WITH BRAKE in in oreder to stop the break function right away.
INTERRUPT WITH BRAKE DECL 21 WHEN $CYCFLAG[1] DO ISR_StackIsFound()

;FOLD SPTP stack1home Vel=100 % PDAT1 Tool[2]:ForkNew Base[4]:EUpalletNEW ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=stack1home; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
;ENDFOLD
SPTP Xstack1home WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(Fstack1home), $BASE = SBASE(Fstack1home.BASE_NO), $IPO_MODE = SIPO_MODE(Fstack1home.IPO_FRAME), $LOAD = SLOAD(Fstack1home.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT1), $APO = SAPO_PTP(PPDAT1), $GEAR_JERK[1] = SGEAR_JERK(PPDAT1), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD

;FOLD SLIN stack1prep Vel=2 m/s CPDAT2 Tool[2]:ForkNew Base[4]:EUpalletNEW ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=stack1prep; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
;ENDFOLD
SLIN Xstack1prep WITH $VEL = SVEL_CP(2.0, , LCPDAT2), $TOOL = STOOL2(Fstack1prep), $BASE = SBASE(Fstack1prep.BASE_NO), $IPO_MODE = SIPO_MODE(Fstack1prep.IPO_FRAME), $LOAD = SLOAD(Fstack1prep.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD

; execute motion during which Interrupt is expected  
SeachForStack()
;The program pointer will jump back to this line
;when the RESUME command in ISR_StackIsFound executes
;That is because the INTERRUPT DECL is in this subroutine


$OUT[20] = TRUE


;FOLD SLIN stack1prep Vel=2 m/s CPDAT2 Tool[2]:ForkNew Base[4]:EUpalletNEW ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=stack1prep; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
;ENDFOLD
SLIN Xstack1prep WITH $VEL = SVEL_CP(2.0, , LCPDAT2), $TOOL = STOOL2(Fstack1prep), $BASE = SBASE(Fstack1prep.BASE_NO), $IPO_MODE = SIPO_MODE(Fstack1prep.IPO_FRAME), $LOAD = SLOAD(Fstack1prep.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD

END

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Code: SearchForStack

&ACCESS RVO1
DEF  SeachForStack ( )
;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)

$OUT[15] = TRUE

INTERRUPT ON 21

; Do to page 614 in KSS_87_SI_en.pdf, it is required to wait 12ms as minimum 
;WAIT SEC 0.1 ; Waiting 100 ms. 

$OUT[16] = TRUE

;FOLD SLIN stack1Calib Vel=2 m/s CPDAT3 Tool[2]:ForkNew Base[4]:EUpalletNEW ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=stack1; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT3; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
;ENDFOLD
SLIN Xstack1Calib WITH $VEL = SVEL_CP(2.0, , LCPDAT3), $TOOL = STOOL2(Fstack1), $BASE = SBASE(Fstack1.BASE_NO), $IPO_MODE = SIPO_MODE(Fstack1.IPO_FRAME), $LOAD = SLOAD(Fstack1.TOOL_NO), $ACC = SACC_CP(LCPDAT3), $ORI_TYPE = SORI_TYP(LCPDAT3), $APO = SAPO(LCPDAT3), $JERK = SJERK(LCPDAT3), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD

; If the interrupt fires, no code below this line will execute
  ; due to the RESUME command in the ISR
  ; Instead, the RESUME command will "cancel" the rest of this subroutine
  ; and jump the program pointer back to one line after where this subroutine was called

; Do to page 614 in KSS_87_SI_en.pdf, it is required to wait 12ms as minimum 
;WAIT SEC 0.1 ; Waiting 100 ms. 
;WAIT FOR TRUE ;// this is causing the error.
WAIT SEC 0 ;// This is also causing the error of $ADVANCE in interrupt inadmissible.
END

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Code: ISR_StackIsFound

&ACCESS RV1
DEF  ISR_StackIsFound()
;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)

;From KSS_87_SI_en, page 620
INTERRUPT OFF 21
BRAKE
RESUME
END

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So please, let me know if you need any further information. I would strongly apprecirate your support. Thanks in advance

**panic mode** · December 30, 2021 at 8:22 PM

ISR_StackIsFound() is an ISR and as such it cannot have INI and inline form motions.

In fact INI and BCO are only needed once - when program is starting. Doing this later on is undesirable in most cases.

ChristianLiinHansen · December 30, 2021 at 8:31 PM

Quote from panic mode

ISR_StackIsFound() is an ISR and as such it cannot have INI and inline form motions.
In fact INI and BCO are only needed once - when program is starting. Doing this later on is undesirable in most cases.

So you are saying, that is should just be like this?

Code: ISR_StackIsFound

&ACCESS RV1
DEF  ISR_StackIsFound()
INTERRUPT OFF 21
BRAKE
RESUME
END

ChristianLiinHansen · December 30, 2021 at 8:36 PM

panic mode You are the BEST!!!! I removed it like above, and now the ISR is WORKING!!!!

So I gave you a like, but I hope the next people do not make the same mistake by using "Modules" generation instead of "Functions".

**panic mode** · December 30, 2021 at 10:40 PM

well it should have been the Expert module (if this is external) but KRL is forgiving and all of the templates are just text files that can be easily converted to other types.

Interrupt Example

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