I am trying to interrupt my robotarm when it moves over the z axis however it keeps stuck at the interrupt command and it gives me the error message: Inadmissible instruction. below I have added my code. Is their anyone with some good advice on what to adjust, thank you in advance.
Code
&ACCESS RVP
&REL 55
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF MARTEN2( )
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
INTERRUPT DECL 1 WHEN $IN[1]==TRUE DO TOOLM()
MOVEZ()
;FOLD PTP P2 Vel=100 % PDAT1 Tool[0] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:, 5:100, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP2
BAS(#PTP_PARAMS,100)
PTP XP2
;ENDFOLD
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
END
DEF MOVEZ()
INTERRUPT ON 1
;FOLD PTP P3 Vel=100 % PDAT2 Tool[0] Base[0];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P3, 3:, 5:100, 7:PDAT2
$BWDSTART=FALSE
PDAT_ACT=PPDAT2
FDAT_ACT=FP3
BAS(#PTP_PARAMS,100)
PTP XP3
;ENDFOLD
WAIT SEC 0
END
DEF TOOLM()
INTERRUPT OFF 1
BRAKE
$OUT[1]
END
, also when i fully remove the command the error message still apprears
