Execution of Trap Routine during movement of MoveAbsJ

JHID

Hi all,

ROOBOT STUDIO - USING 5500-27

I am trying to split a moveabsJ into several robtargets. Currently I have the following.
How can I get the interrupt to trigger at the same time as the moveabsj & continually interrupt the movement home?

If I place the moveabsj in my trap, it goes all the way home and all my targets in the array become the same value.

VAR robtarget pfarmed;
VAR intnum int_temp;

PROC MAIN ()
....
MOTION;

IDelete int_temp;

waittime 0.5;

Connect int_temp WITH temp_routine;

isignalDO do_interrupt1,1, int_temp; 

waittime 0.5;

reset do_interrupt1;

pulsedo do_interrupt1;

WAITtime 1;

IDelete int_temp;
....
ENDPROC

TRAP temp_routine

    For i from 1 to 10 DO

ErrWrite "Awesome","Awesome"; !checking in RS if I am executing

StopMove;

StorePath;

pfarmed := CRobT (\Tool:=TOOL\WObj:=Wobj_01);

pfarm{i} := CRobT (\Tool:=TOOL\WObj:=Wobj_01); !storing to an array

MoveL pfarmed,v2000,fine,TOOL\WObj:=Wobj_01;

RestoPath;

Startmove;

! MOVEABSJ HERE

WaitTime 1;

ENDFOR

ENDTRAP

Any help would be appreciated.

JHID

Fixed my own problem

1. subbed out isignalDO do_interrupt1,1, int_temp;  for an itimer
2. Calling my moveabsJ in the main, excluded it from TRAP
   
3. TRAP is now an IF statement calling a variable, replacing the "i" in the for loop, & running x amount of times.