INTERRUPT issues

Greetings,

I'm trying to create a simple interrupt program that stops motion once a certain value is set to condition. I have:

$tool=TOOL_DATA[1] 
$base=BASE_DATA[2] 
xcurpos=$Pos_Act
PTP xcurpos


PTP {A1 -90.77, A2 -22.77, A3 108.01, A4 -0.62, A5 95.11, A6 179.8, E1 997.28} ;start pos




$CYCFLAG[112]=(Measur_OUT1 >= 0)
INTERRUPT DECL 2 WHEN $CYCFLAG[112]==True DO subBrakez()
INTERRUPT ON 2


SubFindposZ()


END

DEF SubFindposZ()


LIN_REL {Z -50}
WAIT SEC 0   ; make SURE (!!!) that advance run pointer is here when interrupt is triggered
END

DEF subBrakez()
INTERRUPT OFF 2
BRAKE
RESUME
END

I think it should work by going negative 50mm in Z until the condition is set then brake?

Sorry i added the dashes to visually see subprograms. I don't think the axis specific start point matters. I can get the robot to move in the -50 mm in z and i CAN see the $CYCFLAG[112] turn TRUE but motion still continues....

Its like i can't interrupt a relative motion..or any motion for that matter.

&ACCESS RVP
&REL 24
DEF CAL ( )
;Start---------------------------------------
$OUT[127]=TRUE ;ProgramRunning   


BAS(#VEL_PTP,40)
BAS(#ACC_PTP,25)
$APO.CPTP=100
BAS(#VEL_CP, 0.500)
BAS(#ACC_CP,100)
$APO.CDIS=10
$FILTER=16
$ACC_EXTAX[1]=5
$VEL_EXTAX[1]=5
$ACC_EXTAX[2]=5
$VEL_EXTAX[2]=5
 
$tool=TOOL_DATA[1] 
$base=BASE_DATA[2] 
xcurpos=$Pos_Act
PTP xcurpos


PTP {A1 -90.77, A2 -22.77, A3 108.01, A4 -0.62, A5 95.11, A6 179.8, E1 997.28} ;sta








;Start Find Z location of Laser=============================================================================
$CYCFLAG[112]=(Measur_OUT1 >= 0)
INTERRUPT DECL 11 WHEN $CYCFLAG[112]==True DO subBrakez()
INTERRUPT ON 11


SubFindposZ()




END
DEF SubFindposZ()


LIN {Z 50}
WAIT SEC 0
END




DEF subBrakez()
INTERRUPT OFF 11
BRAKE
RESUME
END

Here is the code now, it still does not want to stop motion, it wants to reach -50mm before motion will stop, but again i see my CYCflag change when condition is met.

The Measur_OUT would be a dot laser signal in distance in mm. I have the robot moving very slow, about 1.5 mm per second. The condition is true for the flag when a set point of the laser is greater than or equal to zero. I can rule out speed is not the issue, and the condition does become true, but interrupt just simply does not stop the motion.
With adding the Wait For True it should of caught the advanced run.

Does there need to be a move before I turn on the interrupt?

Yes i did greatly simplify the code, the full code will be finding the x,y,z,a,b,c. but for this case I would just like to get this code to work. I have other code that works with interrupts but for some strange reason this one will not have it. Still does not make sense to me yet why "even the simple code that was attached" the cycflag is TRUE at the correct time, but the sub program with motion continues to have motion and never goes into the interrupt brake subprogram.

Thanks for the sample code, seems like they are both fundamentally the same, just different conditions.