Basic Characteristics RAPID

Examples
Limitations
The position related interrupt will be generated when the start point (end point) is
passed, if the specified distance from the end point (start point) is not within the length
of movement of the current instruction (Trigg...).
This example describes programming of the instructions that interact to generate position
related interrupts:
VAR intnum intno2;
VAR triggdata trigg2;
- Declaration of the variables intno2 and trigg2 (shall not be initiated).
CONNECT intno2 WITH trap2;
- Allocation of interrupt numbers that are stored in the variable intno2
- The interrupt number is coupled to the interrupt routine trap2
TriggInt trigg2, 0, intno2;
- The interrupt number in the variable intno2 is flagged as used
- The interrupt is activated
- Defined trigger conditions and interrupt number are stored in the variable trigg2
TriggL p1, v500, trigg2, z50, gun1;
- The robot is moved to the point p1.
- When the TCP reaches the point p1, an interrupt is generated and the interrupt
routine trap2 is run.
TriggL p2, v500, trigg2, z50, gun1;
- The robot is moved to the point p2
- When the TCP reaches the point p2, an interrupt is generated and the interrupt
routine trap2 is run once more.
IDelete intno2;
- The interrupt number in the variable intno2 is de-allocated.
Interrupt events in distance (without the argument \Time) give better accuracy when
using flying points compared with stop points for the end point (or start point). I/O
events in time (with the argument \Time) give better accuracy when using stop points
compared with flying points.
RAPID Reference Manual 8-TriggInt-3