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DEF MAIN_PROG() DECL INT ROW, COL ROW = 1 COL = 1 PTP HOME FOR ROW = 1 TO 3 FOR COL = 1 TO 2 PTP P01 PTP P02 TASK01() ;CALLS SUBPROGRAM ENDFOR ENDFOR ;--------------------------------------------- ;START OF SUBPROGRAM DEF TASK01() PTP P03 PTP P04 END |
Interrupts
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&ACCESS RVO
&REL 9
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
DEF Interrup_TEST( )
INI
PTP HOME Vel= 100 %
LOOP
PTP OverStartFasatura Vel=100 %
INTERRUPT WITH BRAKE DECL 21 WHEN i1_InterruptOn == TRUE DO OnInterrupt()
INTERRUPT ON 21
LIN StartFasatura Vel=2 m/s
LIN EndFasatura Vel=0.5 m/s
INTERRUPT OFF
HALT
ENDLOOP
OnInterrupt()
PTP HOME Vel= 100 %
END
DEF OnInterrupt()
INTERRUPT OFF
HALT
LIN StartFasatura Vel=2 m/s
WAIT SEC 1
INTERRUPT WITH BRAKE DECL 21 WHEN i1_InterruptOn == TRUE DO OnInterrupt()
INTERRUPT ON 21
RESUME
END |