Trap not exectuing

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1

Hi

I have a trap routine that halts robot movement and backs off the part when a digital output goes high. This works fine if I am running robot motions from the main routine by pressing play on the flex pendant, however if I call a routine from the FPSDK using CallRoutine() command, the interrupt is never executed (the trap setup commands are called both ways). Every now and then I get a message saying that an interrupt has been removed from the queue, so it seems that it is being signalled, just not executed. I can also confirm that watching the signals indicates that the signal is being set high correctly.

Is there something about calling routines asynchronously from a flex pendant application that is causing my woes? Please note that this has only been tested on the virtual controller as I don’t have access to a real controller at the moment.

Cheers.

2

Any thoughts on this? I talked to a representative from ABB and they mentioned that it may be to do with the callRoutine() actually acting as an interrupt itself, which is stopping other interrupts from firing during the call. While this makes sense, it seems crazy as losing all interrupt ability when using a FPSDK app sounds like it could cause all sorts of problems…