4MELFA-BASIC IV
Detailed explanation of command words 4-180
[Explanation]
(1) The priority level for the interrupts is decided by the <Priority No.>, and the priority level, from the highest
ranges from 1 to 8.
(2) There can be up to 8 settings for the interrupts. Use the <Priority No.> to differentiate them.
(3) An <expression> should be either a simple logical operation or a comparison operation (one operator).
Parentheses cannot be used either.
(4) If two Def Act instructions with the same priority number are included in a program, the latter one defined
becomes valid.
(5) Since Def Act defines only the interrupt, always use the Act command to designate the enable/disable
status of the interrupt.
(6) The communications interrupt (COM) has a higher priority level than any of the interrupts defined by Def
Act.
(7) Def Act definitions are valid only in the programs where they are defined. These are invalid when called
up in a program by CallP. If necessary, the data in a sub program may need to be redefined.
(8) If an interrupt is generated when a GoT
o command is designated by <Process> for a Def Act comma
nd,
during execution of the remaining program, the interrupt in progress will remain, and only interrupts of a
higher level will be accepted. The interrupt in progress for a GoTo statement can be canceled with the
execution of an End statement.
(9) Expressions containing conditional expressions combined with logical operations, such as (M1 AND
&H001) = 1, are not allowed.
Specify the proper interrupt stop type according to the purpose. Specify "S" for the
stop type if it is desired to stop the robot in the shortest time and distance possible
by an interrupt while the robot is executing a movement instruction.
CAUTION
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