RobotStudio event

Path Recovey Delay

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

Comments

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