Hi,

Can you check if my INTERRUPT 10 is well declared in main program also if subroutine is ok?

Thank you.

DEF NONAME1()

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )

INTERRUPT ON 3

INTERRUPT DECL 10 WHEN $IN[6]==TRUE DO STOP_MOVE()

INTERRUPT ON 10

$APO.CDIS = 0.5000

BAS (#INITMOV,0)

BAS (#VEL_PTP,20)

BAS (#ACC_PTP,20)

$BASE=BASE_DATA[1]

;$BASE={X 2000, Y 0, Z 1200, A 90, B 0, C 0}

$TOOL=TOOL_DATA[1]

;$TOOL={X 503.173, Y 1.337, Z 101.069, A 0, B 90, C 0}

$OUT[1]=TRUE

$OUT[3]=TRUE

$advance=3

$VEL.CP=0.167

PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

PTP {A1 3.745, A2 -90.330, A3 101.473, A4 -113.300, A5 26.474, A6 115.693, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

LIN {X 0, Y 0, Z 10, A 110.424, B 0, C 180} C_DIS

LIN {X 0, Y 0, Z 0, A 110.424, B 0, C 180} C_DIS

LIN {X 731, Y 0, Z 0, A 130.502, B 0, C 180} C_DIS

LIN {X 731, Y 243, Z 0, A 133.014, B 0, C 180} C_DIS

LIN {X 0, Y 243, Z 0, A 110.424, B 0, C 180} C_DIS

LIN {X 0, Y 0, Z 0, A 110.424, B 0, C 180} C_DIS

LIN {X 0, Y 0, Z 10, A 110.424, B 0, C 180} C_DIS

PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

$OUT[1]=FALSE

$OUT[3]=FALSE

INTERRUPT OFF 10

END

DEF STOP_MOVE()

BRAKE

WAIT FOR $IN[6]==FALSE

WAIT SEC 0.2

RESUME

END