Hello all
I have an FANUC RJ2 Controller and I need my robot have an simple Interrupt between the lines of program.
>>my main . TP program is something like this:
MONITOR<.ch program>
.
.
MONITOR END<.ch program>
>> and my .ch program is:
WHEN DI [1] = ON CALL <TEST.TP>
and here is my problem: i don't know, when condition is met and DI [1] became ON, in TEST.TP program which instructions i should use that suddenly stop the motion of program between MONITOR block and resume the next line after the MONITOR END instruction in main program.
thanks for any help !