Interrupts

Quote from robocoder

If I read the manual correctly the call to DoSomeCalculations and DoSomeMotions will cancel the interrupt? I have to set the interrupt again inside DoSomeCalculations and DoSomeMotions?

Where did you read this, can provide manual reference number where this is written?

AFAIK in your 'DoSomeCalculations and DoSomeMotions' subroutines, the interrupt signal will still be monitored for - Test it.

IGNORE cancels the monitoring for the interrupt configured signal.

BREAK is a break in CP motion, so without it IGNORE would be pre-processed ahead of the next motion segment, so is usually better to have BREAK before IGNORE.

Although, this is application dependent and sometime other way round is required.

Test it and find out, if ok leave it, if not change it.

Yes, if the monitored signal is triggered and the interrupt program is called or the goto label used, then no further monitoring takes place until a new ON/ONI instruction is executed.

you can do this box checking without an interrupt function.

Whether you can share your interrupt handling program？

now not yet fully understood

This is probably what I would do if I were using an ABB robot

----------------------

MODULE ABB

!---Signal declaration

VAR signaldo DO_OPEN;

VAR signaldo DO_CLOSE;

!---Point position definition

CONST robtarget pPick:=[[1230,-1013.6,1541.44],[0.0121733,0.698843,0.71508,-0.0114094],[-1,-1,0,0],[1500,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pPut:=[[1230,-1013.6,1541.44],[0.0121733,0.698843,0.71508,-0.0114094],[-1,-1,0,0],[1500,9E+09,9E+09,9E+09,9E+09,9E+09]];

!---When the feedback is normal signal 1. When the signal changes to 0, the interrupt is triggered !

VAR signaldi DI_CLOSE_ERR;

VAR intnum CLOSE_error;

PROC Gripper(\switch OPEN|switch CLOSE)

IF Present(OPEN) THEN

SetDO DO_OPEN,1;

TPWrite "Gripper_OPEN";

ENDIF

IF Present(CLOSE) THEN

SetDO DO_CLOSE,1;

TPWrite "Gripper_DO_CLOSE";

ENDIF

ENDPROC

PROC Interrupt_TEST()

!--Write an interrupt program,

!--For example: one signal loss during product grabbing,Trigger an interrupt!

!--And then,robot will stop...

WHILE TRUE DO

!----

IDelete CLOSE_error;

CONNECT CLOSE_error WITH Correct_CLOSE;

ISignalDI DI_CLOSE_ERR,0,CLOSE_error;

!---

MoveL pPick,v1000,z50,tool0\WObj:=wobj0;

Gripper\CLOSE;

MoveL pPut,v1000,z50,tool0\WObj:=wobj0;

Gripper\OPEN;

ENDWHILE

ENDPROC

TRAP Correct_CLOSE

IF INTNO=CLOSE_error THEN

TPWrite " It was detected that the BOX was not tightened during handling";

STOP;

ENDIF

ENDTRAP

ENDMODULE