Hello again.
How can i go in the interrupt program save the position in wich the robot stoped, do some other movemnt in the interrupt program, go back in the saved position still in the interrrupt program, and go back to the main and continue like nothing happend.
I tried to decl a axis variable con (like home)
DEF test ()
INI
INTERRUPT DECL 10 WHEN $IN[16] == TRUE DO IRSTOP ( )
INTERRUPT ON 10
PTP HOME
PTP P1 C_DIS
PTP P2 C_DIS
INTERRUPT OFF 10
PTP HOME
END
Interrupt program-------
DEF IRSTOP ( )
DECL AXIS CON
CON = $AXIS_INT
ptp1
ptp2
ptp3
PTP CON
WAIT 0.1 sec
RETURN
END
the axis are writen in CON and the roboter gose back to CON, but when it gose back in the main programm i get a 1388 VARIABLE WRITE PROTECTED IN MODULE
Thanks again