I have a 'table in' input being monitored throughout a drop-off block. When that input is off, ie table is not in, the subprogram is called and is waiting for that signal again. The subprogram then re-initializes the COND program and jumps back to MAIN where it left off, as intended. The problem is MAIN continues to move to the position its was going to and then stops there. Does anyone know of a way I can interrupt that motion right away?
To elaborate the problem better, when the COND is triggered and the subprogram is called, the robot continues moving to the position it was trying to get to in MAIN, and THEN stops there until the the input is returned. I want the robot to stop all motion until the WAIT DI{x} is satisfied, finishes the subprogram, and jumps back to MAIN