1) What is an interrupt?
It is equivalent to the background of the robot scanning the signal cyclically, and then the corresponding interrupt program is triggered by the corresponding signal. There is no movement instruction in the interrupt program, and the movement of the foreground robot will not affect
2) If you want to stop the robot from moving through an interrupt, you can add stopmove to the interrupt
3) The example here is that when the robot is in the work area for a while, it manually enters the light curtain area and the robot keeps
When the robot is in the working area (there will be an area for human interaction), the robot enters the light curtain area manually, and the robot stops moving
4)
5) Establish 2 interrupt programs, as shown in the figure below, tr_stop processes the robot stop when the grating signal becomes 0, and tr_start processes the robot start when the grating signal becomes 1
Creation method: Routine-New, type select trap, as shown above
6) Insert the following initialization program
Insertion method: add instruction, select interrupt category
Among them: CONNECT intstart WITH tr_start means to establish a connection between the intstart interrupt number and tr_start interrupt program,
ISignalDI di_0,1,intstart means trigger when the signal 0 changes to 1 (note that the default insert will have a single parameter, that is, only the first interrupt trigger will occur, and will not trigger again. To trigger repeatedly, remove the single parameter)
7) Insert the following interrupt control instruction in the loop
ISleep is to disable the interrupt, the interrupt generated during this period is ignored by the robot
IWatch forms a pair with ISLeep in order to resume using interrupts.
8) When the above picture is in path_1, interrupt is not enabled, and interrupt is enabled in path_2
UV Film,UV Screen Protector,UV Curing Screen Protector
Shenzhen Jianjiantong Technology Co., Ltd. , https://www.jjttpucuttingplotter.com