Mitsubishi Electric CR750-Q Instruction Manual page 219

[Explanation]
(1) Writes the Return command at the end of the jump destination processing called up in the interrupt.
(2) When returning from interruption processing to the next step by Return1, execute the statement to dis-
able the interrupt. When that is not so, if interruption conditions have been satisfied, because interrup-
tion processing will be executed again and it will return to the next step, the step may be skipped.
Please refer to
(3) The priority level for the interrupts is decided by the <Priority No.>, and the priority level, from the highest
ranges from 1 to 8.
(4) There can be up to 8 settings for the interrupts. Use the <Priority No.> to differentiate them.
(5) An <expression> should be either a simple logical operation or a comparison operation (one operator).
Parentheses cannot be used either.
(6) If two Def Act commands with the same priority number are included in a program, the latter one defined
becomes valid.
(7) Since Def Act defines only the interrupt, always use the Act command to designate the enable/disable
status of the interrupt.
(8) The communications interrupt (Com) has a higher priority level than any of the interrupts defined by Def
Act.
(9) Def Act definitions are valid only in the programs where they are defined. These are invalid when called
up in a program by CallP. If necessary, the data in a sub program may need to be redefined.
(10) If an interrupt is generated when a GoTo command is designated by <Process> for a Def Act com-
mand, during execution of the remaining program, the interrupt in progress will remain, and only inter-
rupts of a higher level will be accepted. The interrupt in progress for a GoTo statement can be canceled
with the execution of an End statement.
(11) Expressions containing conditional expressions combined with logical operations, such as (M1 AND
&H001) = 1, are not allowed.
(12) When an interrupt occurs during execution of the circular or the arc interpolation (Mvc, Mvr, Mvr2,
Mvr3), and then control returns to the interrupted step by Return 0, the robot returns to the start point of
the circle or the arc before executing the circular or the arc interpolation again.
(13) When an interrupt occurs during execution of the arch interpolation, and then control returns to the
interrupted step by Return 0, the robot executes the arch interpolation from the current position.
CAUTION
Page 171, "Act (Act)" for the interrupt processing.
Specify the proper interrupt stop type according to the purpose. Specify "S" for the
stop type if it is desired to stop the robot in the shortest time and distance possible
by an interrupt while the robot is executing a movement instruction.
Detailed explanation of command words 4-199
4MELFA-BASIC V