# Path Recovey Delay

**URL:** <https://tech-community.robotics.abb.com/t/path-recovey-delay/9331>\
**Category:** RAPID Programming\
**Created:** [February 17, 2020, 11:27am UTC](https://tech-community.robotics.abb.com/t/path-recovey-delay/9331 "2020-02-17T11:27:06Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Elchico11](https://avatars.discourse-cdn.com/v4/letter/e/e79b87/32.png) [@Elchico11](https://tech-community.robotics.abb.com/u/Elchico11)\
**Post date:** [February 17, 2020, 11:27am UTC](https://tech-community.robotics.abb.com/t/path-recovey-delay/9331/1 "2020-02-17T11:27:06Z")

</div>

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

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<div class="post-metadata">

**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [February 17, 2020, 1:07pm UTC](https://tech-community.robotics.abb.com/t/path-recovey-delay/9331/2 "2020-02-17T13:07:45Z")

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Put Isleep int\_Homek; in your trap homing\_k at the beginning.