&ACCESS R6
&COMMENT HandlerOnRobotFault
DEF  IR_STOPM ( )
;-----------------------------------
; Error Handling Robot Controller 
; Switch OFF and Switch ON processes
; KRC Version >= V5.5
;-----------------------------------
  ;FOLD DECLARATIONS
  ;FOLD USER DECL
  ; Please insert user defined declarations

  ;ENDFOLD (USER DECL)
  ;FOLD BASISTECH DECL
    BOOL ApplicationRunFlag
    DECL CHAR ID[3]
  ;ENDFOLD (BASISTECH DECL)
  ;ENDFOLD (DECLARATIONS)
  ;FOLD BASISTECH INIT
     INTERRUPT OFF 3
     STOPM_FLAG=TRUE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt
     ID[]="CTL"
     If ($STOPMESS==TRUE) THEN ;APP// "IF" ~ Notepad++ Formatierung
       BRAKE
  ;ENDFOLD (BASISTECH INIT) 
  
  ;FOLD USER STOP
;Make your modifications here

  ;ENDFOLD (USER STOP)
  ;FOLD COLLISION DETECTION
     IF ($IMPROVED_COLLMON == TRUE) AND ($COLL_ALARM == TRUE) THEN
       CollDetect_UserAction()
     ENDIF
  ;ENDFOLD COLLISION DETECTION
  ;FOLD BASISTECH STOP
     P00 (#EXT_ERR,#PGNO_GET,ID[],128 )
     ApplicationRunFlag=FALSE
     IF (Appl_Run>0) THEN
       IF $OUT[Appl_Run] THEN
         ApplicationRunFlag=TRUE
         $OUT[Appl_Run]=FALSE
       ENDIF
     ENDIF
     REPEAT
       POWER=SYNC()
       HALT
     UNTIL (($STOPMESS==FALSE) AND ($POWER_FAIL==FALSE))
  ;ENDFOLD (BASISTECH STOP)

  ;FOLD BASISTECH RESTART
     P00 (#EXT_ERR,#PGNO_GET,ID[],0 )
     IF (ApplicationRunFlag==TRUE) THEN
       IF (Appl_Run>0) THEN
         $OUT[Appl_Run]=TRUE
       ENDIF
     ENDIF
  ;ENDFOLD (BASISTECH RESTART)
  ;FOLD USER RESTART
;Make your modifications here

  ;ENDFOLD (USER RESTART)
  
  ;FOLD BASISTECH REACTIVATE
    Endif ;APP// "ENDIF" ~ Notepad++ Formatierung 
	INTERRUPT ON 3
    STOPM_FLAG=FALSE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt   
  ;ENDFOLD (BASISTECH REACTIVATE)
END