Issues with using global interrupt properly in Auto External mode

Hi guys,

I am using KSS 8.6 END V6

I am trying to create a global interrupt that will initiate a recovery.src in my cell( interrupt 20). it should be always running.

i have a few questions regarding it.

&ACCESS RVO
&COMMENT HANDLER on external automatic
DEF  CELL ( )
;FOLD EXT DECL
;ENDFOLD 
  ;FOLD INIT
  DECL CHAR DMY[3]
  DMY[]="---"
  ;ENDFOLD (INIT)
  ;FOLD BASISTECH INI
     
  GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS == TRUE DO IR_STOPM ( )
  INTERRUPT ON 3 
    
  BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD CHECK HOME
  $H_POS=XHOME
  IF CHECK_HOME==TRUE THEN
    P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position
  ENDIF
  ;ENDFOLD (CHECK HOME)
  ;FOLD PTP HOME  Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
  PDAT_ACT=PDEFAULT
  FDAT_ACT=FHOME
  BAS (#PTP_PARAMS,100 )
  $H_POS=XHOME
  PTP  XHOME
  ;ENDFOLD
  ;FOLD AUTOEXT INI
  P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
  ;ENDFOLD (AUTOEXT INI)
GLOBAL INTERRUPT DECL 20 WHEN $IN[18] == TRUE DO Recovery ( )   
  LOOP
    P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
    INTERRUPT ON 20

1) I am trying to replicate and have placed my own interrupt below it, at first.

:: GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS == TRUE DO IR_STOPM ( )

INTERRUPT ON 3

but my global interrupt does not seem to work,

2) if it is global interrupt, why is this line declared, being written in every .src file that is created.

3) would a .sub be better suited for this?

if so, i tried calling the file but get $ACC-AXIS variable write-protected in module BAS, line 411.

I tried searching in the forum to find a solution but i do not understand it fully.

Thanks for your help.

Quote from hermann

Don't use Global, just use normal interrupt.

If it is a NORMAL INTERRUPT i wont be able to initiate the interrupt in any SRC file being called from the CELL right?

Quote from SkyeFire

If the Interrupt is DECL'd in CELL.SRC, it gets "inherited" by every routine that CELL calls, and every routine those routines call. GLOBAL is not required for that.

The reason that Interrupt 3 is DECL'd in the INI Fold of every module created using the default template, is because KUKA was trying to make a simple template that would work for all use cases. And re-DECLing an Interrupt doesn't do any harm.

It would help if we had any idea what you're trying to do with $ACC_AXIS. As a general rule, motion-controlling variables cannot be modified from inside the SPS, as those variables are "owned" by the Level 1 Interpreter (the Interpreter that the robot motion programs are executed in).

Hi Skyefire,

I made positioning monitoring (SPS) that will record the robots positions to text file.

I am trying to get the INTERRUPT to initiate the recovery.SRC to get it back home after IN[18] is true.

my recovery.SRC has following:

$AXIS_ACT: to PTP to itself before homing(to prevent BCO to home)

SPTP P[i] WITH $VEL_AXIS[1] = SVEL_JOINT(10.0) C_Spl

Quote from SkyeFire

If the Interrupt is DECL'd in CELL.SRC, it gets "inherited" by every routine that CELL calls, and every routine those routines call. GLOBAL is not required for that.

The reason that Interrupt 3 is DECL'd in the INI Fold of every module created using the default template, is because KUKA was trying to make a simple template that would work for all use cases. And re-DECLing an Interrupt doesn't do any harm.

It would help if we had any idea what you're trying to do with $ACC_AXIS. As a general rule, motion-controlling variables cannot be modified from inside the SPS, as those variables are "owned" by the Level 1 Interpreter (the Interpreter that the robot motion programs are executed in).

Below is my declaration of interrupt 20 in my CELL. i checked in my INPUT/OUTPUTS -> DIGITAL OUTPUTS and my di_bInitRecoveryfrmPLC is being switched ON correctly.

&ACCESS RVO
&COMMENT HANDLER on external automatic
DEF  CELL ( )
;FOLD EXT DECL
;ENDFOLD 
  ;FOLD INIT
  DECL CHAR DMY[3]
  DMY[]="---"
  ;ENDFOLD (INIT)
  ;FOLD BASISTECH INI
     
  GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS == TRUE DO IR_STOPM ( )
  INTERRUPT ON 3 
  
  INTERRUPT DECL 20 WHEN di_bInitRecoveryfrmPLC == TRUE DO Interrupt_test ( )
  INTERRUPT ON 20 


  BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD CHECK HOME
  $H_POS=XHOME
  IF CHECK_HOME==TRUE THEN
    P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position
  ENDIF
  ;ENDFOLD (CHECK HOME)
  ;FOLD PTP HOME  Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
  PDAT_ACT=PDEFAULT
  FDAT_ACT=FHOME
  BAS (#PTP_PARAMS,100 )
  $H_POS=XHOME
  PTP  XHOME
  ;ENDFOLD
  ;FOLD AUTOEXT INI
  P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
  ;ENDFOLD (AUTOEXT INI)
   ;GLOBAL INTERRUPT DECL 20 WHEN $IN[18] == TRUE DO Recovery ( )  
  ;INTERRUPT ON 20
  LOOP
    P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )

Interrupt_test ( ) just has the following:

&ACCESS RV
DEF  Interrupt_test ( )
;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)

MsgNotify("In read_CSV file",,)
END

Quote from panic mode

you cannot do that... it is not how interrupts work. there are limitations.

your ISR routine cannot contain things like INI fold. so you need to remove lines 2-13 from Interrupt_Test()

have deleted as you said and tried again

&ACCESS RV
DEF  Interrupt_test ( )

MsgNotify("In read_CSV file",,)
END

I still am not able to see MsgNotify turn up.

Could my interrupt is triggered by IN[18] which is ON when i press ESTOP and then Press RESET in my PLC. Could ESTOP interfere with the interrupt?

Got interrupt to work. Thanks guys