Path Recovey Delay

Elchico11

Hello, i'm working on a glue robot. The customer ask me if he can send back robot to home position in case they have some error etc. So i decided to use path recovery funcion.

I've this problem now:

1- I'm using a trap routine with interrupt for the path recovery but also for a "live speed trap" which send speed to the plc. 

        ======        Path Recovery =======

        IDelete int_Home_k;    

        CONNECT int_Home_k WITH Homing_k;

        ISignalDI DI_100_path_R,1,int_home_k;        

        IWATCH int_Home_k;

        ..............................

        TRAP homing_k

           StorePath;

           Set DO_110_PathRecoveryBearbeitung;

           PathRecMoveBwd \ID:= R_Homing_K\ToolOffs:=[30,0,30];  

           Stop;

        ENDTRAP

        ====== Speed Trap ======

        IDelete time_int;

        CONNECT time_int WITH speed_refresh;

        ITimer 0.1, time_int;
        IWATCH time_int;
        ..................

        TRAP speed_refresh

            override := CSpeedOverride();

            override := Round(override);

           SetGO GO_464_Speed,override;

        ENDTRAP

The problem is i get this error message when Path Recovery is triggered (ofc i don't have problems if i comment out the connection for the speed Trap):

    40206: Interrupt queue full

lemster68

Put Isleep int_Homek; in your trap homing_k at the beginning.