Run service routine without losing program pointer

baldurbaldur København S
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?


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