Hi! I want to program an interrupt. During a movement between two linear point i want that if a signal goes off the movement will be stopped and the robot must go to another point. What I did is:
INTERRUPT WITH BRAKE F DECL 10 WHEN I67_RuotaDentFerma==TRUE DO ReStart_Fasatura ()
INTERRUPT ON 10
LIN StartFasamentoRuota_L2 Vel=0.1 m/s
LIN FasamentoRuota_L2 Vel=0.005 m/s
INTERRUPT OFF
here is the subroutine:
DEF ReStart_Fasatura ()
LIN OutDepRuota_L2 Vel=Approach m/s
END
But the interrupt it is not executed it goes from "StartFasamentoRuota_L2" to "FasamentoRuota_L2" no matter what...