Denso RC5 Specifications download pdf (Page 318)

100

101

12-42

INTERRUPT ON/OFF (Statement)

Function

Interrupts a robot motion.

Format

INTERRUPT {ON|OFF}

Explanation

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

Related Terms

Example

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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Denso RC5 Specifications Page 318

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