Abb Robot Interrupt Signal

First read Rapid Manual Trap Routine.

here you have an example how to use

MODULE Unnamed

!Interrupt

VAR intnum intno1:=0;

!

PROC Main()

S_Interrupt;

S_Work;

ENDPROC

PROC S_Interrupt()

! execute on Main

IDelete intno1;

CONNECT intno1 WITH S_Air_Not_ok;

!signal to Watch

ISignalDI DI07_Air_Ok,0,intno1;

ISleep intno1;

ENDPROC

PROC S_Work()

!Check signal air

IWatch intno1;

!Work

!Work

!don't Check

ISleep intno1;

ENDPROC

TRAP S_Air_Not_ok

TPErase;

TPWrite "Air KO";

TPWrite " ";

TPWrite "Push Start";

Stop;

! Or

! StopMove;

WaitUntil DI07_Air_Ok=1;

WaitTime 2;

!StartMove;

ENDTRAP

ENDMODULE

Rtfm 😉. The ABB manual in my opinion is a very good manual, because they have for nearly every command one or more examples.

remember its just an example ,take a look on Robot studio Help ,the trap routine are various mode to use ,you must bild for your Proggram