ABB IRB 6400R Product On-Line Manual page 92

Advanced Functions 3.2
Movements in interrupt routines and error handlers
This function makes it possible to temporarily interrupt a movement which is in
progress and then start a new movement which is independent of the first one. The robot
stores information about the original movement path which allows it to be resumed
later.
Examples of applications:
- Cleaning the welding gun when a welding fault occurs. When a welding fault
occurs, there is normally a jump to the program's error handler. The welding
movement in progress can be stored and the robot is ordered to the cleaning
position so that the nozzle can be cleaned. The welding process can then be
restarted, with the correct parameters, at the position where the welding fault
occurred. This is all automatic, without any need to call the operator. (This
requires options ArcWare or ArcWare Plus.)
- Via an input, the robot can be ordered to interrupt program execution and go to
a service position, for example. When program execution is later restarted
(manually or automatically) the robot resumes the interrupted movement.
Cross-connections with logical conditions
Logical conditions for digital input and output signals can be defined in the robot's
system parameters using AND, OR and NOT. Functionality similar to that of a PLC can
be obtained in this way.
Example:
- Output 1 = Input 2 AND Output 5.
- Input 3 = Output 7 OR NOT Output 8.
Examples of applications:
- Program execution to be interrupted when both inputs 3 and 4 become high.
- A register is to be incremented when input 5 is set, but only when output 5=1
and input 3=0.
Interrupts from analog input or output signals
An interrupt can be generated if an analog input (or output) signal falls within or outside
a specified interval.
14 Product Specification RobotWare for BaseWare OS 3.2