Lookup continue keyword. Placed directly in the line of code in front of the advance run breaking instruction the if statement will be evaluated by advance run instead if main run.
Fubini
Be very careful about using CONTINUE, however. It works, but it causes the IF (or anything else immediately following it) to be evaluated several moves (not commands, motions) ahead of the main pointer. How many moves is controlled by $ADVANCE, which is 3 by default.
So your IF statement could easily be evaluated (and pass or fail) well before you expect it to.
in order to use robot properly, one must get familiar with it. this means taking training and reading documentation. in this case issue is advance run pointer so one need to get familiar how it works and what are the dangers and downsides. as mentioned before, robot program is processed by two instruction pointers main pointer runs motion, advance run pointer runs ahead and collects information for main pointer motion planner.
in a simple block of instructions (no branches or loops) that is processed once... each instruction is processed ... but only ONCE. either by main or advance run pointer... but never both... so your program basically tells robot what is processed by which pointer.
placing CONTINUE directly before instruction will tell robot to process that one instruction using advance run pointer. but... once instruction is processed (in this case it is checking an input), it is no longer considered... so later on when main pointer reaches that instruction, it simply notes "nothing for me to do here, this is already processed" and moves on. even if the state of the input changed....
for example consider signal "OK TO PICK/LOAD PART TO/FORM THE PRESS"... clearly this can lead to collisions. which is exactly why instructions using inputs and outputs are normally processed using main pointer.
so to make run robot smoothly, one tries to get things processed in advance run pointer. then when main pointer reaches the instruction, it simply proceeds without need to stop.
but... the question also becomes how much of the code is processed by the advance run pointer... what if you have a loop with just couple of instructions? because while main pointer is busy with one thing (maybe just one motion), advance run pointer can run through content of the loop more than once before detecting the input state changed. this means that robot (main pointer) will have to process all that advance run pointer has gathered for main pointer to process... and that could be several motions before it catches up with the advance run pointer...
so... you may want to limit that by adding line
$ADVANCE=1
that is the smallest number of motions that still allows approximation.
Hello, I didn't had a time to reply, but I wanted to thank you all for the answers. The continue before some of the conditions works perfectly although at some places I had to reduce the $ADVANCE value.
I actally had official Kuka trainng, but I mosty do evrything with inlin forms. I didn't realize that continue works with if statement as well, even though it's kind of obvious. And for advance run, this is not first robot I have programmed, so I have encountered it and the magic of WAIT SEC 0 line 
Anyway, thanks again
