Stop --> Reset/Start using interrupt and trap

RAPID Programming
1

Hi, I’m programming a robot to serve 6 flavours of espresso but I need help with a stop-reset/start function.
What I want is:

  • Stop = the robot stops where it is, even if it’s on its way to a position.
  • Start or Reset
  • Start = if I press Start without a Reset, I just want the robot to keep doing what it was doing when the stopbutton was pressed. But if Reset has been pressed then i want it to start at the top of the program - ready for a new order.
  • Reset = What the robot does depends on what it was doing, for example if it was holding a cup of espresso when Stop → Reset was ressed I want it to put down the cup and move to home position.

I have an idea but im not sure if it would work (di1=stop di2=start di3=reset)

VAR intnum intno1;
…
CONNECT intno1 WITH Stop;
ISignalDI di1,1,intno1;

TRAP Stop ()
StopMove;
WaitUntil (di2+di3=1);
IF DI2,1 THEN
StartMove;
ELSEIF DI3,1 THEN
Clearpath
… (what ever I want it to do when i reset)
PPToMain
ENDIF
ENDTRAP

Would something like this work? Is there a better way? Please help.

Thanks in advance.

2

It would work but using a trap routine but it adds additional hassle you shouldn’t need.

Stop = system input “Stop”
Start = system input “Start”
Reset = system input “StartAtMain”

At the top of main,

IF (sensor to know if it already has a cup) THEN
Move to finish delivery of that cup and go to home position;
ELSE
Move to home position an get ready for a selection;
ENDIF

WaitUntil Selection > 0;
IF Selection = 1 THEN
Move to get and deliver Flavor 1;
ELSEIF Selection = 2
Move to get and deliver Flavor 2;
ELSEIF…
ENDIF

3

Yeah that makes sense. Didn’t think of system inputs, it sure makes it simpler. Thanks for the help!

4

Hello. I’m working on a very similar problem. I use a trap routine to stop movement when a collision fault occurs.
There is a digital output always set on in the process, i cant reset the DO in the interrupt, tried different ways using cross connection and system outputs associated to states and dont get it.
The example below, thanks.

MODULE …
VAR intnum supmov;
VAR intnum supstop;

PROC …( )
CONNECT supmov WITH supervision;
CONNECT supstop WITH reset_output;
ISignalDO, MotSupTrigg, 1, supmov;
ISignalDO, stop_program, 1, supstop; ! Use a “stop_program” system output with Motors On state attached to a virtual DO
Loop
…
ENDPROC
TRAP supervision
RESET DO_PROCESS
RETURN

TRAP reset output
RESET DO_PROCESS
RETURN
ENDTRAP