Learning INTERRUPTS and facing a problem

Hello guys,

I am in the process of reading/practicing with Interrupts. Lucky we have a KRC2 controller with a KR 70 R2100 robot with KSS 5.6 to practice with.

I tried to use INTERRUPTS to trigger different subprograms, everything works fine with the ones that has only LOGIC commands without movement commands like PTP.

When I trigger the Interrupt which opens the subprogram with different movements I got some Bas problems, can somebody explain to me how to correct this?

I use the following code:

MAIN PROGRAM ()
INIT

DECL INTERRUPT 10 WHEN $OUT[192]==TRUE DO TOOL ()

INTERRUPT ON 10
PTP_HOME
$ADVANCE = 0
OUT 192 STATE TRUE
PTP_HOME

END

TOOL ()
INIT
PTP_HOME
PTP_HOME
END

Thnak you in $Advance!

Thank you for the clarifications guys!