# TRAP routine start is delayed **URL:** \ **Category:** RAPID Programming\ **Created:** [August 8, 2019, 10:38am UTC](https://tech-community.robotics.abb.com/t/trap-routine-start-is-delayed/9019 "2019-08-08T10:38:41Z")\ **Posts on this page:** 7\ **Page:** 1
**Author:** ![egor](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/egor/32/2735_2.png) [@egor](https://tech-community.robotics.abb.com/u/egor)\ **Post date:** [August 8, 2019, 10:38am UTC](https://tech-community.robotics.abb.com/t/trap-routine-start-is-delayed/9019/1 "2019-08-08T10:38:41Z")
Hi, I want the TRAP routine to start right after TriggL instruction. But I don’t want to change z50 to fine or use Waittime instruction. Is it possible to do something? … TriggCheckIO Trig\_Vac1\_Check,0,di\_Vac1\_1,EQ,1\StopMove,VacInterrupt; TriggL pAboveConv,v300,Trig\_Vac1\_Check,z50,VacuumGrip; _!TRAP routine must start here!_ IF bricks\_in\_frame=1 OR THEN DropWObj wobj\_cnv1; TPWrite “Rob1 dropped wobj”; ENDIF IF Rob1\_Pick\_Int=FALSE THEN _!TRAP routine starting here in fact!_ WaitSyncTask\InPos,Rob1\_Ready,task\_list; TPWrite “ROB1 WaitSyncTask”; ENDIF ---
**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:** [August 8, 2019, 11:58am UTC](https://tech-community.robotics.abb.com/t/trap-routine-start-is-delayed/9019/2 "2019-08-08T11:58:59Z")
IF bricks\_in\_frame=1 OR THEN DropWObj wobj\_cnv1; TPWrite “Rob1 dropped wobj”; ENDIF OR what? This seems incomplete. ---
**Author:** ![egor](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/egor/32/2735_2.png) [@egor](https://tech-community.robotics.abb.com/u/egor)\ **Post date:** [August 8, 2019, 12:05pm UTC](https://tech-community.robotics.abb.com/t/trap-routine-start-is-delayed/9019/3 "2019-08-08T12:05:14Z")
> [@lemster68](#): > > IF bricks\_in\_frame=1 OR THEN > DropWObj wobj\_cnv1; > TPWrite “Rob1 dropped wobj”; > ENDIF > > OR what? This seems incomplete. I just deleted all unnecessary fragments of code to make it more readable. There was another condition. I forgot to delete “OR”… ---
**Author:** ![SomeTekk](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/sometekk/32/151_2.png) [@SomeTekk](https://tech-community.robotics.abb.com/u/SomeTekk)\ **Post date:** [August 8, 2019, 1:45pm UTC](https://tech-community.robotics.abb.com/t/trap-routine-start-is-delayed/9019/4 "2019-08-08T13:45:31Z")
Check out ISignalDO in the RAPID instruction manual. … **CONNECT sig1int WITH iroutine1;** **ISignalDO do\_ForceTrap, 1, sig1int;** IF Rob1\_Pick\_Int=FALSE THEN _!TRAP routine starting here in fact!_ **Set do\_ForceTrap** WaitSyncTask\InPos,Rob1\_Ready,task\_list; TPWrite “ROB1 WaitSyncTask”; ENDIF ---
**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:** [August 8, 2019, 1:48pm UTC](https://tech-community.robotics.abb.com/t/trap-routine-start-is-delayed/9019/5 "2019-08-08T13:48:14Z")
So the reason why I asked is this: put a WaitUntil condition 1 OR condition 2 OR condition 3 first. ---
**Author:** ![SomeTekk](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/sometekk/32/151_2.png) [@SomeTekk](https://tech-community.robotics.abb.com/u/SomeTekk)\ **Post date:** [August 8, 2019, 3:55pm UTC](https://tech-community.robotics.abb.com/t/trap-routine-start-is-delayed/9019/6 "2019-08-08T15:55:01Z")
I need to review MORE closely (especially cutting and pasting) before posting and heading away. Trying again. 😑 **PROC InitTrap()** **IDelete sig1int;** **CONNECT sig1int WITH iroutine1;** **ISignalDO do\_ForceTrap, 1, sig1int;** **ENDPROC** +++++++++++++++++++++++++++++++++++++++++ … **InitTrap;** … **!TRAP routine must start here!** **Set do\_ForceTrap;** IF bricks\_in\_frame=1 OR THEN DropWObj wobj\_cnv1; TPWrite “Rob1 dropped wobj”; ENDIF IF Rob1\_Pick\_Int=FALSE THEN _!TRAP routine starting here in fact!_ WaitSyncTask\InPos,Rob1\_Ready,task\_list; TPWrite “ROB1 WaitSyncTask”; ENDIF ---
**Author:** ![egor](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/egor/32/2735_2.png) [@egor](https://tech-community.robotics.abb.com/u/egor)\ **Post date:** [August 9, 2019, 6:24am UTC](https://tech-community.robotics.abb.com/t/trap-routine-start-is-delayed/9019/7 "2019-08-09T06:24:08Z")
SomeTekk, thanks for you advice! I found my own way, using second trigger \, which is checked position. If position has not been reached, the program pointer doesn’t move further: IDelete VacInt; CONNECT VacInt WITH TrapPick; … !Turning on vacuum before pick position TriggIO Trig\_Vac\_ON,0\Start\DOp:=do\_Valve\_Rob1\_1\_on,1; TriggL RelTool(RelTool(Offs(pPick,x\_brick+26,y\_brick,z\_brick),0,0,0\Rz:=rot\_z\_brick+flip\_rot\_R1),0,0,0\Rx:=tilt\_x\_brick\Ry:=tilt\_y\_brick), v100,Trig\_Vac\_ON,z0\Inpos:=fllwtime0\_5,VacuumGrip\WObj:=wobj\_cnv1; !Pick position MoveL RelTool(RelTool(Offs(pPick,x\_brick+26,y\_brick,z\_brick+50),0,0,0\Rz:=rot\_z\_brick+flip\_rot\_R1),0,0,0\Rx:=tilt\_x\_brick\Ry:=tilt\_y\_brick), v150,z10,VacuumGrip\WObj:=wobj\_cnv1; !Check vacuum TriggCheckIO Trig\_Vac\_Check,0,di\_Vac1\_1,EQ,1\StopMove,VacInt; !The signal \ is set to 1 when point “pAboveConv” is reached TriggIO Trig\_Pos\_Reached,0\DOp:=do\_PosReached,1; TriggL pAboveConv,v300,Trig\_Vac\_Check\T2:=Trig\_Pos\_Reached,z50,VacuumGrip; !If do\_PosReached = 0 it is mean that TRAP routine will run. WaitDO do\_PosReached,1; SetDO do\_PosReached,0; !TRAP routine is running here IF Rob1\_PickInt=FALSE THEN IF bricks\_in\_frame=1 THEN DropWObj wobj\_cnv1; TPWrite “Rob1 dropped wobj”; ENDIF WaitSyncTask\InPos,Rob1\_Ready,task\_list; TPWrite “ROB1 WaitSyncTask”; ENDIF