determine when the input goes on

[dcrobo]

dear friends

i have a question

suppose i have 4 points


                p1----------------------------p2----------------------p3--------------------------p1



My input appears anywhere during the programmed points


is there any way to determine when my input appeared 

i.e. suppose my input appeared during travelling of p2----p3 point

how do i know that my input appeared between point p2-p3.

[kr16_2]

Interrupts.
You can run separate (independent from main program) subroutine when input comes in.
That subroutine can check current robot position or monitor variable that you can update in main program (variable changes depending on the points that you travel through)

[MeanRobot]

There is a useful variable that you can take advantage of when your input triggers the interrupt.

$POS_INT will contain the Cartesian position at the moment the interrupt was triggered.

From it, you should be able to figure out where you are along your path.