INTERRUPT ON/OFF (Statement)


Interrupts a robot motion.


INTERRUPT {ON|OFF}


INTERRUPT ON and INTERRUPT OFF are used as a pair. In program lines sandwiched by the pair, if an interrupt skip signal turns ON during execution of motion commands, then the robot controller will interrupt execution of the current motion command and proceeds to the next program step.
To execute the INTERRUPT command, the task must have gotten an arm group semaphore.
Without INTERRUPT ON written earlier, even if an interrupt skip signal turns ON, the controller will not interrupt execution of any motion commands.
If the program comes to a stop or GIVEARM command is executed, then INTERRUPT will be set to OFF automatically


  • If the controller executes any relative motion command immediately following an interrupt skip, then the subsequent relative motion will start from the position where the robot stops. In program lines sandwiched by the INTERRUPT pair, therefore, use an absolute motion command.
  • The system does not perform a pass motion during INTERRUPT ON.
    If the system finds the pass motion designated, all of then are executed in the end motion.
  • Turning an interrupt skip signal ON interrupts all motion commands sandwiched by the INTERRUPT pair and stops all robot motions. Therefore carefully design your robot system for multitasking if you use the INTERRUPT.
    Program Example
    When the controller is running PRO1 and PRO2 programs concurrently in multitasking mode, if an interrupt skip signal turns ON, then the controller will interrupt all commands (MOVE in PRO1 and DRIVE in PRO2 in the above example) running in both programs and make the programs simultaneously proceed to the next step.


Ex1
DIM lp1 As Position
INTERRUPT ON
'Proceeds to the next step after interrupting
'a motion instruction in execution when
'the interruption signal of the
'special I/O port is turned ON.
MOVE P, lp1
INTERRUPT OFF

Ex2
PROGRAM PRO1
TAKEARM 1
'Get Arm Group 1 involving 7th and 8th
'extended-joints.
INTERRUPT ON
DRIVE (7,100), (8,30)
'If interrupt skip signal turns ON during
'execution of this motion command between
'INTERRUPT ON/OFF program lines, then the
'controller interrupts the command and
'proceeds to the next program step.
INTERRUPT OFF
END


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