10.4.3.10. RINT

10.4.3.10. RINT

 

While a robot is moving to the target step, if an assigned DI signal (input signal) is inputted, the robot is immediately stopped by interrupt. Then, the robot executes a command recorded in the step, and restarts moving to the next step.

 

Explanation	Robot interrupt (DI signal)
Grammar	RINT I=<DI signal>,RC=< ref. complete >,[X=< ref.X >,Y=< ref.Y >, Z=< ref.Z >]
Parameter	Number of DI signal	Number of DI signal to receive interrupt signal	1~4096
	ref. complete	If 0, general robot interrupts function. If 1, search function. Refer to the SEA (search) function.	0, 1
	ref. X, Y, Z	These are used for the search function.	-3000.0 ~ 3000.0
Example	RINT I=8, rc=0, X=0, Y=0, Z=0     ← X, Y, Z be ignored RINT I=8, rc=1, X=1000, Y=2000, Z=3000