Execution Of An Interrupt Job; Interruption Signal Detection; Timing For Interrupt Job Execution; Deceleration Before Interrupt Job Execution - YASKAWA YRC1000 Instructions Manual

HW1483372
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Execution of an Interrupt Job

4.1
4.2
4.3
4.4
4 Execution of an Interrupt Job
4.1

Interruption Signal Detection

Interruption Signal Detection
An interruption signal is detected at the rising edge of the signal.
If more than one interruption signal is detected at the same time, the job
for the level with higher priority is executed.

Timing for Interrupt Job Execution

The timing of executing an interrupt job depends on what instruction is
being executed when the interruption signal is received, and can be
divided into the following two types.
• Suspends the instruction being executed to do an interrupt job
The following instructions are suspended while executing an inter-
rupt job.
Move Instructions
I/O Instruction
Control Instruction
• Executes an interrupt job after the completion of the instruction being
executed.
Any instructions other than those listed above are completed before
starting an interrupt job.

Deceleration Before Interrupt Job Execution

If the manipulator is moving at a high speed and the interrupt job is
executed immediately after the interruption signal is received, an
excessive shock to the manipulator may result.
To avoid this risk, the manipulator automatically decelerates upon receipt
of the interruption signal, and then the interrupt job is executed.

Interruption Signal Entered During Another Interrupt Job

All interruptions are automatically disabled during the execution of an
interrupt job. Therefore, if another interruption signal with a higher priority
is received, its corresponding job is not executed.
The new signal is ignored. When an interrupt job is completed, even if
any interruption signal is ON, the corresponding interrupt job is not
executed until the rising edge of the interruption signal is detected.
4-1
MOVJ MOVL MOVC IMOV
WAIT
TIMER
HW1483372
19/27