Trouble with Interupt

RAPID Programming
1

Hello,
I’m trying to use interrupt but i guet some problem and i hope you could help me.
We are using multimove system with irb6400

First interrupt have to stop the robot until we restart with signal from PLC.
Is it Okay ? sometime i got queue interupt is full… i don’t know why

TRAP Interrupt_R1
TPWrite “Robot 1 - STOP”;
StopMove;
IDelete robot1_stop;
WaitDI PN_DI020,1;
StartMove;
CONNECT robot1_stop WITH Interrupt_R1;
ISignalDI PN_DI015,1,robot1_stop;
ENDTRAP

The second interrupt should do :

  • stop the movement on the path
  • Move the robot to another position
  • Wait signal to restart

TRAP Interrupt_CasseLame_R1
Set PN_DO133;
StopMove;
ClearPath;
Ouverture_Galets_R1;
TPWrite" Casse lame robot1 “;
StartMove;
posAct_R1:=CRobT(\Tool:=tool_lame_R1_2\WObj:=wobj0);
MoveL RelTool(posAct_R1,0,-150,0),v300,fine,tool_lame_R1_2\WObj:=wobj0;
TPWrite” Coupez le PVB puis appuyez sur PLAY apres fermeture porte ";
IDelete robot1_CasseLame;
Stop;
Main;
ENDTRAP

But i got an error the pointer of the robot is too far from the cursor.. What can i do ?

Regards

2

For the first TRAP the solution is to not disconnect and reconnect the interrupt

TRAP Interrupt_R1
TPWrite “Robot 1 - STOP”;
StopMove;
WaitDI PN_DI020,1;
StartMove;
ENDTRAP

3

Use the instruction ISleep first in your trap. If you do not, it keeps triggering, causing interrupt queue full.