Yeah, I can!
THIS IS MY INTERRUPT DECLARATION:
;auxiliary cycle Flag: conditions for colision activation
$CYCFLAG[iCYCFLAG_Collision] = $TORQ_DIFF[5]>iMaxTorque
INTERRUPT DECL iINTERRUPT_Colission WHEN $CYCFLAG[iCYCFLAG_Collision] DO TorqueFault()
SO, WHEN MY CYCFLAG IS TRUE, I CALL MY SUBPROGRAM "TorqueFault()":
DEF TorqueFault() ;Colison between head and product
BRAKE
xAlarm[iFaultColission] = TRUE
WAIT FOR NOT xAlarm[iFaultColission] ;Wait not fault (Reset IHM)
InitialMove() ;Move to home
RESUME
END