I have a program in IRC5 RW6, where a lineair movement is started towards p2. During that movement a digital input is checked. If the DI comes active the movement has to be stopped and another destination hast to be chosen. I use an interrupt on the DI that will start a trap routine. In that trap routine I have a stopmove command and startmove command. After the stop I the program pointer to go back to the line after the movement to p2, there I want to decide what the new destination will be.
I never want to continue the first motion to p2, it has to be canceled, so I can start a new different motion.
I did not succeed so far. How do you solve such a situation?
Thanks