Hello,
RobotWare 4.0
This is my first experience of interrupt programming with ABB robot, thanks for any help in advance! here is my test program and I would appreciate tell me if there are any problems:
(I have defined X1 and Y1 in EIO.CFG)
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MODULE mainn
VAR intnum sensor;
PROC TEST()
CONNECT sensor WITH vacuum;
ISignalDI x1, high, sensor;
MoveL p1, v200, z10, tool1;
!during the excution of p2 I want to check interrupt signal
MoveJ p2, v200, z10, tool1;
!stop checking interrupt signal
MoveL p3, v200, z10, tool1;
MoveL p4, v200, z10, tool1;
ENDPROC
TRAP vacuum
SETDO Y1,1;
RETURN;
ENDTRAP
ENDMODULE
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Question one: with which instruction I can activate and deactivate interrupt trigger signal check? in KUKA you can ON and OFF signal check in desire lines of your program. I am looking for similar command.
Question two: is it necessary to write RETURN at the end of trap routine?