INTERRUPT PROBLEM - ON BEFORE IT SHOULD BE

Hi,

I've got a problem. Tested on krc2 5.5.8 and 5.6.10 the same behaviour.

The interrupt 23 in the program below is activated even when robot is on move to XP1. Is this normal behaviour of kuka robots?

I turn interrupt ON AFTER the robot should reach XP1 and still the XP1 is interrupted when the robot is in move to XP1.

I simplified the program to show how I use this interrupt. I added halt to check that the program really going into the ir sub and it confirmed that it goes there even when INTERRUPT is OFF.

Where is the problem? Thank you for any input.

DEF search()
  INI
  $CYCFLAG[1] = $IN[1] AND $IN[2]
  INTERRUPT DECL 23 WHEN $CYCFLAG[1] == FALSE DO irStopRobot()

  PTP $POS_ACT
  $ADVANCE = 3

  $BWDSTART=FALSE
  PDAT_ACT=PDATmax
  FDAT_ACT=FB1
  BAS(#PTP_PARAMS,100)
  PTP XP1 C_PTP

  INTERRUPT ON 23
  MoveP2()
  $ADVANCE = 3
  INTERRUPT OFF 23
END


DEF MoveP2()
  $BWDSTART=FALSE
  LDAT_ACT=Lcpdatmax
  FDAT_ACT=FB1
  BAS(#CP_PARAMS,0.08)
  LIN XP2
  $ADVANCE = 0
END


DEF irStopRobot()
  INTERRUPT OFF 23
  BRAKE
  rPickPosSavedZ = $POS_INT.Z
  halt
  RESUME
END

I thought until today that ADVANCE was only merging robot moves, and the "standard instructions" are executed between these moves and ofcourse advance pointer stops at instructions mentioned in KUKA expert manual as advance pointer stoppers. It was big misunderstunding on my side. Thank you for clarifying this.

From your post I assume that instructions that do not stop ADVANCE pointer are executed in sequence until reaching the move that ADVANCE pointer point at, even that the moves are not executed yet.

CONT is needed to get smooth movement. I will try TRIGGER tommorow. It looks promising. Thank you.