abb机器人中断程序

MODULE MainModule

      VAR intnum HPError1:= 0;
      VAR intnum HPError2:= 0;
    PROC rInitAll()
        Startmove;
        CONNECT HPError1 WITH rHP1Error;\\中断号链接中断处理程序
        ISignalDI zhongduan, 0, HPError1;\\信号链接对比0不成立，触发中断程序
        CONNECT HPError2 WITH rHP1Error;\\此处触发同一个中断处理程序
        ISignalDI zhuanduan2, 0, HPError2;
		ISleep HPError1;\\暂时关闭中断检测
        IWatch HPError1;\\暂时关闭中断取消
    ENDPROC

    PROC Main()
        rInitAll;
        WHILE TRUE DO 
  MoveJ [[734.31,705.94,1217.50],[0.463801,-0.323519,0.803328,0.186784],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]], v1000, z50, tool0;
  MoveJ [[1018.61,0.00,1217.50],[0.5,7.70773E-10,0.866025,4.45006E-10],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]], v1000, z50, tool0;
        ENDWHILE
    ENDPROC
   TRAP rHP1Error
     Stopmove;\\停止移动
     IDisable;
     StorePath;\\记录轨迹
     Stop;      
     RestoPath;  \\继续轨迹
     StartMove;
     IEnable; \\再次开启中断程序
  ENDTRAP  
ENDMODULE
~~~