# Trouble with Interupt

**URL:** <https://tech-community.robotics.abb.com/t/trouble-with-interupt/9666>\
**Category:** RAPID Programming\
**Tags:** interrupt-motion\
**Created:** [August 24, 2020, 5:41am UTC](https://tech-community.robotics.abb.com/t/trouble-with-interupt/9666 "2020-08-24T05:41:57Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Naturlight](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/naturlight/32/1858_2.png) [@Naturlight](https://tech-community.robotics.abb.com/u/Naturlight)\
**Post date:** [August 24, 2020, 5:41am UTC](https://tech-community.robotics.abb.com/t/trouble-with-interupt/9666/1 "2020-08-24T05:41:57Z")

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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

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<div class="post-metadata">

**Author:** ![Naturlight](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/naturlight/32/1858_2.png) [@Naturlight](https://tech-community.robotics.abb.com/u/Naturlight)\
**Post date:** [August 24, 2020, 11:20am UTC](https://tech-community.robotics.abb.com/t/trouble-with-interupt/9666/2 "2020-08-24T11:20:57Z")

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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

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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:** [August 24, 2020, 11:55am UTC](https://tech-community.robotics.abb.com/t/trouble-with-interupt/9666/3 "2020-08-24T11:55:54Z")

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