How to use a interrupt like this?

as the title,i really want to use a interrupt like this:
the main program is in a loop where every 1 second to show something like $pos_act in pedant.
and when the interrupt is on(by ethernet xml),the subprogram B is called,in B, use LIN_REL to move up 10mm.then stop in its moved position,and return to main program.

i wrote the src program,but the pedant tell me "repostion error",can you give some suggestion?i will be very glad to hear your advice.thank you.

this is code:

&ACCESS RVP
&REL 6
&PARAM SensorITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program
DEF FinalXML( )
REAL temp
BOOL GIsLoop
DECL EKI_STATUS RET
GIsLoop=TRUE
temp=0;
 
BAS (#INITMOV,0 )


INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO GET_DATA()
INTERRUPT ON 89


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}


$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=3


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXML")
RET=EKI_Open("FinalXML")
EKI_CHECK(RET,#QUIT)


WHILE GIsLoop==TRUE

RET=EKI_SetReal("FinalXML","Robot/Data/RealA", temp)
temp=temp+1
RET = EKI_Send("FinalXML","Robot")
WAIT SEC 1


ENDWHILE


RET=EKI_Close("FinalXML")
RET=EKI_Clear("FinalXML")
END


;;===============================================


DEF GET_DATA()


DECL EKI_STATUS RET
REAL valueReal
FRAME valueFrame
$FLAG[998]=FALSE
valueReal=0.0
valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}


;RET=EKI_GetReal("FinalXML","Command/RealA",valueReal)
;valueFrame.Z=valueReal
valueFrame.Z=10
LIN_REL valueFrame


END

Quote from SkyeFire

Post your code.

Your interrupt program generally needs to end with a WAIT FOR TRUE or something else to prevent the Advance Run Pointer from getting back into the main loop before the motion is finished.

skyefire,i have update the post ,now has code

as the title,i really want to use a interrupt like this:
the main program is in a loop where every 1 second to send something to external PC.
and when the interrupt is on(by ethernet xml),the subprogram B will be called,in B, use LIN_REL to move up 10mm.then stop in its moved position,and return to main program.

i wrote the src program,but the pedant tell me "repostion error",can you give some suggestion?i will be very glad to hear your advice.thank you.

this is code:

&ACCESS RVP
&REL 6
&PARAM SensorITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program
DEF FinalXML( )
REAL temp
BOOL GIsLoop
DECL EKI_STATUS RET
GIsLoop=TRUE
temp=0;
 
BAS (#INITMOV,0 )


INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO GET_DATA()
INTERRUPT ON 89


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}


$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=3


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXML")
RET=EKI_Open("FinalXML")
EKI_CHECK(RET,#QUIT)


WHILE GIsLoop==TRUE

RET=EKI_SetReal("FinalXML","Robot/Data/RealA", temp)
temp=temp+1
RET = EKI_Send("FinalXML","Robot")
WAIT SEC 1


ENDWHILE


RET=EKI_Close("FinalXML")
RET=EKI_Clear("FinalXML")
END


;;===============================================


DEF GET_DATA()


FRAME valueFrame
$FLAG[998]=FALSE


valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}


valueFrame.Z=10
LIN_REL valueFrame


END

Quote from hermann

Try something like this:

Code

&ACCESS RVP
&REL 6
&PARAM SensorITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\Program
DEF FinalXML( )
REAL temp
BOOL GIsLoop
DECL EKI_STATUS RET
GIsLoop=TRUE
temp=0;
 
BAS (#INITMOV,0 )


INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO GET_DATA()
INTERRUPT ON 89


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}


$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=3


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXML")
RET=EKI_Open("FinalXML")
EKI_CHECK(RET,#QUIT)


$ADVANCE=0  ; !!!!!!!!!!
WHILE GIsLoop
 endless()   ; !!!!!
ENDWHILE


RET=EKI_Close("FinalXML")
RET=EKI_Clear("FinalXML")
END


DEF ENDLESS()
 loop
  RET=EKI_SetReal("FinalXML","Robot/Data/RealA", temp)
  temp=temp+1 
  RET = EKI_Send("FinalXML","Robot") 
  WAIT SEC 1
 endloop
END


;;===============================================
DEF GET_DATA()
 FRAME valueFrame 
 $FLAG[998]=FALSE
 brake


 valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}


 valueFrame.Z=10
 LIN_REL valueFrame
 resume   ; !!!!
END

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i tried, but failed,it show: impermissible program structure for resume....kss01584

Quote from Mentat

Not 100% sure, and can't test at the moment, but I think you need BRAKE before LIN movement in the interrupt procedure and RESUME after it:

BRAKE
LIN_rel {z 10}
RESUME

i tried, but failed,it show: impermissible program structure for resume....kss01584

Thank you for all,yesterday i read a post and successed!
https://www.robot-forum.com/robotforum/kuk…re-for-resume)/

i also donnt know why it success......