Interrupt - Mitsubishi Electric CR750-Q Instruction Manual

(3) Interrupt

Once the designated conditions are established, the command statement being executed can be interrupted
and a designated step branched to.
*Command word
Command word
Def Act
Act
Return
*Statement example
Statement example
Def Act 1, M_In(10)=1 GoSub *SUB1 ..............................
Def Act 2, M_In(11)=1 GoSub *SUB2, L ..........................
Def Act 3, M_In(12)=1 GoSub *SUB3, S..........................
Act 1=1 .............................................................................
Act 2=0 .............................................................................
Return 0............................................................................
Return 1............................................................................
*Related functions
Unconditional branching, branching...................................................
Subroutine..........................................................................................
Communication ..................................................................................
Defines the interrupt conditions and process for generating interrupt.
Designates the validity of the interrupt.
If a subroutine is called for the interrupt process, returns to the interrupt source line.
If input signal bit 10 is turned on for interrupt number 1, the subroutine on step *SUB1 is
defined to be called after the robot decelerates and stops. The deceleration time
depends on the Accel and Ovrd instructions.
If input signal bit 11 is turned on for interrupt number 2, the subroutine on step *SUB2 is
defined to be called after the statement currently being executed is completed.
If input signal bit 12 is turned on for interrupt number 3, the subroutine on step *SUB3 is
defined to be called after the robot decelerates and stops in the shortest time and
distance possible.
Enables the priority No. 1 interrupt.
Disables the priority No. 1 interrupt.
Returns to the step where the interrupt occurred.
Returns to the step following the step where the interrupt occurred.
Function
Explanation
Explanation
Explanation page
Page 113, "(1) Unconditional branching, conditional branching,
waiting"
Page 116, "(4) Subroutine"
Page 119, "4.1.5 Communication"
MELFA-BASIC V functions 4-115
4MELFA-BASIC V