Interrup proccess

Hello everyone

I am working on a Kawasaki RS013N robot with F-Controller.

I want to control the robot to move as follows:

- The robot executes some movement commands, whenever it receives a PLC signal, it will CALL a subroutine

- The robot stops at the last command of the subroutine and does not return to the previous program

I tried ONI...CALL but it seems wrong. Anyone has another idea???

Thanks in advance

Quote from kwakisaki

- Application.
- PLC interface to Robot type.

I used software ethernet

Quote from kwakisaki

- Using PC tasks and Program Task or just Program Task.

Actually they're all subroutine.

My flow is: main program and many subroutines

Subroutine 1 is to suction 4 products from A and insert to B.

While robot moving, if robot drop any product, I will CALL to subroutine 2 that move robot to position C and release the others into a box.

Then I want stop subroutine 1 and 2, so the next move of robot will be control by the main program

"- Why does it need to stop at end of subroutine, just return to main routine and scan for new task." (sorry but I dont understand why I cant quote that :D)

Yes, that's exactly what I want

Thanks for your reply

What happend if I use this follow:

Assume 1009 is signal "suction OK" from ejector

.PROGRAM setup()

ONI -1009 CALL box_ng

IF SIG(-1009) GOTO end_sub

;some move instruction while signal 1009 ON

end_sub:

.END

.PROGRAM box_ng()

; move to box

; release products;

.END

Quote from kwakisaki

ONI or ON starts the monitoring of the condition and is cancelled when the condition occurs or IGNORE is used to cancel the monitoring.
So there is no need to 'look' for the signal again when ONI or ON has been executed.

It depends on how you look at it.
An example below (it is just an example, not something to copy and paste).
The place routine has 2 parts to it controlled by the RETURN instruction.
By default it will always place and RETURN or if interrupted, dump and RETURN.

Code

.PROGRAM main();
HOME;
CALL pick;
CALL place;
HOME;
.END

.PROGRAM place();
ONI/LVL -1009 GOTO eof;
;
JAPPRO place, 100;
LMOVE place;
OPENI;
BREAK;
IGNORE 1009;
LDEPART 100;
RETURN;
;
eof:
JAPPRO dump, 100;
LMOVE dump;
OPENI;
LDEPART 100;
RETURN;
;
.END

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Your idea works properly ! Thank you

But I want to separate the subroutine called by ONI instruction because I will CALL it in others subroutine. So I can use it multiple times with just 1 write.

Quote from kwakisaki

KISSING it......Keep It Simple Stupid
Simply put your dump instructions into a subroutine and CALL it after the label.
Then you have your dump subroutine that can be called by other programs.

Code

.PROGRAM main();
HOME;
CALL pick;
CALL place;
HOME;
.END

.PROGRAM place();
ONI/LVL -1009 GOTO eof;
;
JAPPRO place, 100;
LMOVE place;
OPENI;
BREAK;
IGNORE 1009;
LDEPART 100;
RETURN;
;
eof:
CALL dump;
RETURN;
;
.END

.PROGRAM dump();
JAPPRO dump, 100;
LMOVE dump;
OPENI;
LDEPART 100;
RETURN;
;
.END

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Many thanks for your help. I appreciate that

But if you feel uncomfortable when reply such stupid question, you dont need to do that.

That's a silly question for you - someone who has years of working with robots and with AS language. But for me - a newbie with everything, that's not easy.

Anyway, thank you