Trouble with Interupt

Naturlight

Hello,
I'm trying to use interrupt but i guet some problem and i hope you could help me.
We are using multimove system with irb6400

First interrupt have to stop the robot until we restart with signal from PLC.
Is it Okay ? sometime i got queue interupt is full... i don't know why

    TRAP Interrupt_R1

        TPWrite "Robot 1 - STOP";

        StopMove;

        IDelete robot1_stop;

        WaitDI PN_DI020,1;

        StartMove;    

        CONNECT robot1_stop WITH Interrupt_R1;

        ISignalDI PN_DI015,1,robot1_stop;

    ENDTRAP


The second interrupt should do :
- stop the movement on the path
- Move the robot to another position 
- Wait signal to restart 

    TRAP Interrupt_CasseLame_R1                

        Set PN_DO133;

        StopMove;

        ClearPath;

        Ouverture_Galets_R1;

        TPWrite" Casse lame robot1 ";     

        StartMove;

        posAct_R1:=CRobT(\Tool:=tool_lame_R1_2\WObj:=wobj0);

        MoveL RelTool(posAct_R1,0,-150,0),v300,fine,tool_lame_R1_2\WObj:=wobj0;

        TPWrite" Coupez le PVB puis appuyez sur PLAY apres fermeture porte ";

        IDelete robot1_CasseLame;

        Stop;

        Main;

    ENDTRAP

But i got an error the pointer of the robot is too far from the cursor.. What can i do ?

Regards

Naturlight

For the first TRAP the solution is to not disconnect and reconnect the interrupt

    TRAP Interrupt_R1

        TPWrite "Robot 1 - STOP";

        StopMove;

        WaitDI PN_DI020,1;

        StartMove;    

    ENDTRAP

lemster68

Use the instruction ISleep first in your trap.  If you do not, it keeps triggering, causing interrupt queue full.