Interruption During Circular Interpolation Move Instruction (Movc) - YASKAWA YRC1000 Instructions Manual

HW1483372
5.4
Interrupt job
0000 NOP
0001 MOVJ
0002 DOUT OG#(2) 5
0003 RET
0004 END
After the RET instruction in the interrupt job
is executed, the manipulator moves to Step
4 with linear interpolation. The suspended
job is restarted from MOVC instruction on
line 0005.
5 Application Examples
5.4

Interruption During Circular Interpolation Move Instruction (MOVC)

Interruption During Circular Interpolation Move
Instruction (MOVC)
0000 NOP
0001 EI
0002 MOVJ
0003 MOVL
0004 MOVC
0005 MOVC
0006 MOVC
0007 MOVL
0008 DOUT OT#(1) ON
0009 MOVJ
0010 DI
0025 END
Step 1
Step 2
Step 3
5-3
Job in progress
Interruption enabled
Interruption disabled
Interrupt job
Step 1
Moves with linear
interpolation.
Step 4
A job interruption (with the cursor on line 0005)
HW1483372
Interruption during move
from Step 3 to Step 4
Step 6
Step 5
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