TRAP routine start is delayed

egor

Hi, I want the TRAP routine to start right after TriggL instruction. But I don't want to change z50 to fine or use Waittime instruction.
Is it possible to do something?

        ...

        TriggCheckIO Trig_Vac1_Check,0,di_Vac1_1,EQ,1\StopMove,VacInterrupt;

        TriggL pAboveConv,v300,Trig_Vac1_Check,z50,VacuumGrip;

        !TRAP routine must start here!

        IF bricks_in_frame=1 OR THEN

            DropWObj wobj_cnv1;

            TPWrite "Rob1 dropped wobj";

        ENDIF

        IF Rob1_Pick_Int=FALSE THEN

            !TRAP routine starting here in fact!

            WaitSyncTask\InPos,Rob1_Ready,task_list;

            TPWrite "ROB1 WaitSyncTask";

        ENDIF

lemster68

IF bricks_in_frame=1 OR THEN

            DropWObj wobj_cnv1;

            TPWrite "Rob1 dropped wobj";

        ENDIF

OR what?  This seems incomplete.

egor

lemster68 said:

IF bricks_in_frame=1 OR THEN

            DropWObj wobj_cnv1;

            TPWrite "Rob1 dropped wobj";

        ENDIF

OR what?  This seems incomplete.

I just deleted all unnecessary fragments of code to make it more readable. There was another condition. I forgot to delete "OR"...

SomeTekk

Check out ISignalDO in the RAPID instruction manual.
...

CONNECT sig1int WITH iroutine1;

ISignalDO do_ForceTrap, 1, sig1int;

 IF Rob1_Pick_Int=FALSE THEN
            !TRAP routine starting here in fact!

            Set do_ForceTrap

            WaitSyncTask\InPos,Rob1_Ready,task_list;

            TPWrite "ROB1 WaitSyncTask";

        ENDIF

lemster68

So the reason why I asked is this:  put a WaitUntil condition 1 OR condition 2 OR condition 3 first.

SomeTekk

I need to review MORE closely (especially cutting and pasting) before posting and heading away.

Trying again. 

PROC InitTrap()
IDelete sig1int;
CONNECT sig1int WITH iroutine1;
ISignalDO do_ForceTrap, 1, sig1int;
ENDPROC

+++++++++++++++++++++++++++++++++++++++++

 ...

InitTrap;

...

 !TRAP routine must start here!
     Set do_ForceTrap;

        IF bricks_in_frame=1 OR THEN

            DropWObj wobj_cnv1;

            TPWrite "Rob1 dropped wobj";

        ENDIF

        IF Rob1_Pick_Int=FALSE THEN

            !TRAP routine starting here in fact!

            WaitSyncTask\InPos,Rob1_Ready,task_list;

            TPWrite "ROB1 WaitSyncTask";

        ENDIF

egor

SomeTekk, thanks for you advice! I found my own way, using second trigger <Trig_Pos_Reached>, which is checked position. If position has not been reached, the program pointer doesn't move further:

        IDelete VacInt;

        CONNECT VacInt WITH TrapPick;

        ...

        !Turning on vacuum before pick position

        TriggIO Trig_Vac_ON,0\Start\DOp:=do_Valve_Rob1_1_on,1;

        TriggL RelTool(RelTool(Offs(pPick,x_brick+26,y_brick,z_brick),0,0,0\Rz:=rot_z_brick+flip_rot_R1),0,0,0\Rx:=tilt_x_brick\Ry:=tilt_y_brick),
v100,Trig_Vac_ON,z0\Inpos:=fllwtime0_5,VacuumGrip\WObj:=wobj_cnv1;

        !Pick position

        MoveL RelTool(RelTool(Offs(pPick,x_brick+26,y_brick,z_brick+50),0,0,0\Rz:=rot_z_brick+flip_rot_R1),0,0,0\Rx:=tilt_x_brick\Ry:=tilt_y_brick),
v150,z10,VacuumGrip\WObj:=wobj_cnv1;

        !Check vacuum

        TriggCheckIO Trig_Vac_Check,0,di_Vac1_1,EQ,1\StopMove,VacInt;

        !The signal <do_PosReached> is set to 1 when point "pAboveConv" is reached

        TriggIO Trig_Pos_Reached,0\DOp:=do_PosReached,1;

        TriggL pAboveConv,v300,Trig_Vac_Check\T2:=Trig_Pos_Reached,z50,VacuumGrip;

        !If do_PosReached = 0 it is mean that TRAP routine will run. 

        WaitDO do_PosReached,1;

        SetDO do_PosReached,0;

        !TRAP routine is running here

        IF Rob1_PickInt=FALSE THEN

            IF bricks_in_frame=1 THEN

                DropWObj wobj_cnv1;

                TPWrite "Rob1 dropped wobj";

            ENDIF

            WaitSyncTask\InPos,Rob1_Ready,task_list;

            TPWrite "ROB1 WaitSyncTask";

        ENDIF