YASKAWA DX200 Instructions Manual

Also see for Motoman DX200: Instruction manual Instructions Instructions Setup procedure Instructions

Contents

YASKAWA DX200 Instructions Manual Manual pdf 8 page image

1-1165259-1CDHW1481811Interrupt Job Function 1 What is the Interrupt Job Function?1 What is the Interrupt Job Function?The interrupt job function is a kind of call job. When a signal to interruptthe job is sent from a peripheral device or another system, this functionmomentarily suspends a job in progress, and executes the jobcorresponding to the signal.This function is useful when an error occurs in a peripheral device or inanother system, or when the manipulator should be withdrawn in anemergency.An interruption table defines the relation among the interruption levels(priority of an interruption signal), the interruption signals, and theinterrupting jobs.Sending a user input signal specified in the table calls, a jobcorresponding to that signal. When interrupt job is completed, thesuspended job is restarted from the instruction line where the cursor wasat the time of interruption.The smaller the interruption level number becomes, the higher the priorityof the processing becomes.Since the DX200 determines which interrupt job is to be executedaccording to this interruption table, make sure the settings for this tableare correct. The system engineer sets up this interruption table.NOTE If an interruption signal is received while the manipulator is inthe “step” cycle, the manipulator stops at once, and then thenext starting operation starts the interrupt job.Interrupt job Job in progressNOPENDNOPENDInterruptionINTERRUPT JOBLEVEL SIGNAL JOB NAMEIN#01 JIG STOPNOPENDInterrupt job"JIG STOP"NOPENDJob in progressInterruptionInterruptionsignal IN#01Interruption tableINTERRUPT JOB8/27