10.4.3.11. RINTA

10.4.3.11. RINTA

 

While a robot is moving toward the target step, if analog voltage satisfies the range set by the user, interrupt occurs to stop the robot immediately. Then, the robot executes commands recorded in the step, and moves to the next step.

 

 

Figure 10.8 Robot interrupt (Analog signal)

 

Explanation	Robot interrupt (Analog signal)
Grammar	RINTA PT=<port number>,VL=< voltage low limit >,VH=< voltage high limit >,RC=< reference complete >,[X=< ref.X >,Y=< ref.Y >,Z=< ref.Z >]
Parameter	Port number	Analog port which will receive interrupt signal	1~32
	voltage low limit	If analog value is between lowest voltage and highest voltage, interrupt occurs.	-10.0~10.0
	voltage high limit
	reference complete	0 is general robot interrupt and 1 is the search function. Refer to the SEA (Search) function.	0, 1
	ref. X, Y, Z	These are used for the search function. If RC = 0 is ignored.	-3000.0~3000.0
Example	RINTA PT=1, VL=2, VH=9, RC=0, X=0, Y=0, Z=0   ← X, Y, Z be ignored RINTA PT=1, VL=2, VH=9, RC=1, X=1000, Y=2000, Z=3000