RobotStudio event

Execution of Trap Routine during movement of MoveAbsJ

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JHID
JHID ✭
in RAPID Programming
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.
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Answers

  • JHID
    JHID ✭
    Options
    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. 

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