ID : 202

Interrupt

Function

Skip a motion instruction in the Interrupt block when the I/O interrupt skip signal is On, or to interrupt and skip the motion if the robot is in motion.

Syntax

Interrupt True/False

Guaranteed Entry

True/False: Enable/Disable the servo lock by an integer type data.
To enable this command, enter True or an integer other than 0.
To disable this command, enter False or 0.

Description

Use the Interrupt statement by enclosing the block by Interrupt True and Interrupt False.

If the interrupt skip signal is On, the motion statements in the block enclosed by Interrupt True and Interrupt False are skipped and not executed.

When the interrupt skip signal is turned On during motion, the motion is suspended and the next statement is executed by the end motion (@E).

To execute Interrupt, the task must acquire (TakeArm) any axis control. When the axis control is released, Interrupt Off is automatically triggered.

Attention

The Interrupt statement is a motion statement. Next option also waits for pass motion.

Example

'!TITLE "Interruption of Robot Motion"
' Interruption of robot motion
Sub Sample_Interrupt

  Dim aaa As Position

  aaa = CurPos

  aaa = Dev( aaa, P( 0, 60, 0, 0, 0, 0 ) )

  TakeArm Keep = 1

  Interrupt True

  ' If the interrupt skip signal is turned ON during execution of the following process
  ' Interrupt the motion instruction and execute the following step.
  Move P, aaa

  Interrupt False

End Sub