INTERRUPT

    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)

    ************************************************

    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

    ***********************************


    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?

    Edited 2 times, last by Robotmei ().

    Question 1 - Read up on ISleep and IWatch instructions. It disables and enables the interrupt instruction.

    Question 2 - No you don't need to use return unless you wish to return to where the interrupt was initiated.

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