Run service routine without losing program pointer

baldur

From time to time my welding robot have a collision which requiere a TCP update. But every time I need to run a TCP update during a program execution I reset program pointer and jump to the "TCP-update-routine". And after the update completes I need to make som jump into my code to start from the place where the robot had a collision.

But would it somehow be possible to "save" the program pointer, run a service-routine(for instance a TCP-update-routine) and return to the saved program pointer?
 

lemster68

Select Call routine instead of PP to routine in the debug menu.