Interrupt setting

hi,
I wrote an interrupt routine when error occur this interrupt execute.
for example when collision occur but in this time robot will continue the last position
and after that it will go to interrupt routine while we expect at first time interrupt routine execute.
Is there any setting for interrupt?
I use IRC5 with IRB 1410

Many thanks

PROC Path_10()

ConfL\off;
CONNECT err_interrupt WITH trap_err;
IError COMMON_ERR, TYPE_ALL, err_interrupt;
MoveJ Target_10, v1000, fine, tool0\WObj:=wobj0;
PathRecStart safe_id;
MoveL Target_20, v1000, fine, tool0\WObj:=wobj0;
MoveL Target_30,v1000, fine, tool0\WObj:=wobj0;!! for example during this line we have a collision.after start*
MoveL Target_40, v1000, fine, tool0\WObj:=wobj0; !*robot will continue Target_30 and after that**
MoveL Target_50, v1000, fine, tool0\WObj:=wobj0; !**interrupt routine will execute while we expect at first
MoveL Target_60, v1000, fine, tool0\WObj:=wobj0; !time interrupt routine execute
IDelete err_interrupt;
ENDPROC

TRAP trap_err
TPReadFK choice,"Go to safe?",stEmpty,stEmpty,stEmpty,stEmpty,"Yes";
IF choice=5 THEN
IF PathRecValidBwd(\ID:=safe_id) THEN
StorePath;
PathRecMoveBwd \ID:=safe_id \ToolOffs:=[0, 0 , 10];
!Fix problem
PathRecMoveFwd;
RestoPath;
StartMove;
ENDIF
ENDIF
ENDTRAP