We have KRC4 robot KSS 8.5.6.
I was wondering if the calls of the submit interpreter are somehow related to the robot program.
I know SPS is cyclically called, but can the robot program at any line of its code be interrupted, or are there restrictions where a call of the sps is not possible. I should like to know that for the synchronisation between robot program and sps program.
Calls of SPS
- Plc_User
- Thread is Unresolved
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Sps is not cyclically called, it's called once and then runs. There is (usually) a loop inside, that runs cyclically.
but can the robot program at any line of its code be interrupted, or are there restrictions where a call of the sps is not possible.
Don't understand what you mean by this.
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Robot program can be interrupted at (and may be inbetween) any line of the program.
That sometimes makes synchronisation a bit fiddly.
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Level 0 Interpreter (SPS) and Level 1 Interpreter (Robot) are completely asynchronous. Their only real interaction is that they can both access the same pool of I/O and global variables.
What are you trying to accomplish? "Interrupt" has a specific meaning, but your description sounds like you want something else.
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check RESUME command
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