Interrupt Not Triggering

Ahiers · June 20, 2023 at 10:24 PM

I am trying to write a simple search interrupt that stops motion when an input is received and record the point, then go to an offset of that point. See code below.

I am unable to get the interrupt to trigger and stop the robot. I have verified that 1041 is the correct input and that the input is not on when the interrupt is turned on. If anyone has any ideas as to why this would be the case it would be appreciated.

Code

DEF  PICK ( )

PTP HOME

INTERRUPT DECL 5 WHEN $IN[1041]==TRUE DO SEARCH_FOUND ()

PTP PSEARCH_START

SEARCH_MOTION ()

LIN PSEARCH_FOUND

PTP HOME

END



DEF  SEARCH_MOTION ( )

INTERRUPT ON 5

LIN PSEARCH_END

WAIT FOR TRUE

INTERRUPT OFF 5

END



DEF  SEARCH_FOUND ( )

INTERRUPT OFF 5

BRAKE

XPSEARCH_FOUND = $POS_INT
XPSEARCH_FOUND.Z = XPSEARCH_FOUND.Z - 500

RESUME

END

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**panic mode** · June 20, 2023 at 10:40 PM

that is not KRL code, only something that looks like it on the surface...

also it is not clear if PSEARCH_START and PSEARDH_END are the same or very close.

Ahiers · June 20, 2023 at 10:43 PM

Here are the full code snippets. I tried to condense for readability.

The start and end points are roughly 1.5 meters away. The robot travels to the end point without triggering the interrupt and stopping.

Code

DEF  PICK_STACK ( )


;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)




;FOLD PTP HOME Vel=100 % DEFAULT ;%{PE}


;FOLD Parameters ;%{h}


;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP


;ENDFOLD


$BWDSTART = FALSE


PDAT_ACT = PDEFAULT


FDAT_ACT = FHOME


BAS(#PTP_PARAMS, 100.0)


SET_CD_PARAMS (0)


PTP XHOME


;ENDFOLD




INTERRUPT DECL 5 WHEN $IN[1041]==TRUE DO SEARCH_FOUND ()




;FOLD PTP PSEARCH_START CONT Vel=10 % PDAT1 Tool[1]:INFEED_VAC Base[0] ;%{PE}


;FOLD Parameters ;%{h}


;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PSEARCH_START; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=10; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP


;ENDFOLD


$BWDSTART = FALSE


PDAT_ACT = PPDAT1


FDAT_ACT = FPSEARCH_START


BAS(#PTP_PARAMS, 10.0)


SET_CD_PARAMS (0)


PTP XPSEARCH_START C_Dis


;ENDFOLD




SEARCH_MOTION ()




;FOLD LIN PSEARCH_FOUND Vel=0.1 m/s CPDAT1 Tool[1]:INFEED_VAC Base[0] ;%{PE}


;FOLD Parameters ;%{h}


;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PSEARCH_FOUND; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=0.1; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN


;ENDFOLD


$BWDSTART = FALSE


LDAT_ACT = LCPDAT1


FDAT_ACT = FPSEARCH_FOUND


BAS(#CP_PARAMS, 0.1)


SET_CD_PARAMS (0)


LIN XPSEARCH_FOUND


;ENDFOLD




;FOLD WAIT Time= 1.0 sec ;%{PE}


;FOLD Parameters ;%{h}


;Params IlfProvider=kukaroboter.basistech.inlineforms.logics.wait; Time=1.0


;ENDFOLD


WAIT SEC 1.0


;ENDFOLD




;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}


;FOLD Parameters ;%{h}


;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP


;ENDFOLD


$BWDSTART = FALSE


PDAT_ACT = PDEFAULT


FDAT_ACT = FHOME


BAS(#PTP_PARAMS, 100.0)


SET_CD_PARAMS (0)


PTP XHOME


;ENDFOLD




END







DEF  SEARCH_MOTION ( )


;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)




INTERRUPT ON 5




;FOLD LIN PSEARCH_END Vel=0.1 m/s CPDAT1 Tool[1]:INFEED_VAC Base[0] ;%{PE}


;FOLD Parameters ;%{h}


;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=PSEARCH_END; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=0.1; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN


;ENDFOLD


$BWDSTART = FALSE


LDAT_ACT = LCPDAT1


FDAT_ACT = FPSEARCH_END


BAS(#CP_PARAMS, 0.1)


SET_CD_PARAMS (0)


LIN XPSEARCH_END


;ENDFOLD




WAIT FOR TRUE




INTERRUPT OFF 5




END





DEF  SEARCH_FOUND ( )


;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)




INTERRUPT OFF 5




BRAKE




XPSEARCH_FOUND = $POS_INT


XPSEARCH_FOUND.Z = XPSEARCH_FOUND.Z - 500




RESUME




END

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hermann · June 21, 2023 at 6:04 AM

Delete those INI folds in the subroutines, and try a different interrupt number, f. e. number 1.

Ahiers · June 21, 2023 at 2:58 PM

Quote from hermann

Delete those INI folds in the subroutines, and try a different interrupt number, f. e. number 1.

For whatever reason I changed the interrupt from 5 to 10 and now it works. The manual doesn't say anything about 5 being a reserved number or anything, I'm scratching my head as to why it wouldn't work. Thanks for the help.

**SkyeFire** · June 21, 2023 at 5:26 PM

Interrupt 5 may be in use by something else.

It's a grey area -- KSS comes with a lot of default "helper" templates that do use some of the Interrupts. Interrupt 3, for example, typically calls IR_STOPM. However, these stock templates are optional. They're not system requirements, so it's entirely possible for you to not use those templates, and instead use those system resources as you see fit.

As such, these "helper" items are not in the system documentation. But they're also not documented terribly well elsewhere. So it's entirely possible that some "helper" routine in the robot is re-DECLing Interrupt 5 and it's not obvious.

There is a range of Interrupts that are not available for user programs to use, but I'm pretty sure 5 is not on that list.

Side note: TRIGGERs and INTERRUPTs actually use the same resources, and as such a TRIGGER of Priority 5 will conflict with INTERRUPT 5. That's one reason TRIGGERS are most often used with PRIO=-1, which is an automatic assignment.

Interrupt Not Triggering

panic mode June 20, 2023 at 10:33 PM

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