Hello! I would like to know how to do interrupt routine like in KUKA robot. In Kawasaki i done it with ONI CALL. When signal is off the robot stops, but when it resumes back from interrupt it does not continue with the current move but goes to next step(which in my case is the next robot motion). It never completes the current robot motion. In KUKA if you didn't use the RESUME at the end of interrupt it always complete the current robot motion.I found something about #DEST function which tells you where to the robot wanted to go but don't know how to properly use it.
8 ONI -1022 CALL chk_off_t1,1
9 JMOVE #p1
10 JMOVE #p2
11 JMOVE #p3
IGNORE 1022
.PROGRAM chk_off_t1()
DO
UNTIL SIG(1022)
ONI -1022 CALL chk_off_t1,1
RETURN
.END