Hello, i’m working on a glue robot. The customer ask me if he can send back robot to home position in case they have some error etc. So i decided to use path recovery funcion.
I’ve this problem now:
1- I’m using a trap routine with interrupt for the path recovery but also for a “live speed trap” which send speed to the plc.
====== Path Recovery =======
IDelete int_Home_k;
CONNECT int_Home_k WITH Homing_k;
ISignalDI DI_100_path_R,1,int_home_k;
IWATCH int_Home_k;
…
TRAP homing_k
StorePath;
Set DO_110_PathRecoveryBearbeitung;
PathRecMoveBwd \ID:= R_Homing_K\ToolOffs:=[30,0,30];
Stop;
ENDTRAP
====== Speed Trap ======
IDelete time_int;
CONNECT time_int WITH speed_refresh;
ITimer 0.1, time_int;
IWATCH time_int;
…
TRAP speed_refresh
override := CSpeedOverride();
override := Round(override);
SetGO GO_464_Speed,override;
ENDTRAP
The problem is i get this error message when Path Recovery is triggered (ofc i don’t have problems if i comment out the connection for the speed Trap):
40206: Interrupt queue full