使用背景：机械臂从等待点往下进行直线运动，传感器检测到信号后，机械臂停止运动，执行吸盘信号，返回等待点。进入下一个程序运行。
我在F控制柜AS语言说明书中没有找到对应指令，希望能得到关于中断指令的使用方法或标准案例程序。谢谢帮助！

Dear Andrew,

please respect the forum language: English! - Thank you!

As far as I can translate via Google Translator, you are searching for a way to stop the robot motion on a signal. There is a special movement command called "XMOVE" that stops on a signal flank. You can find the description in the reference manual.

Additionally there are some special interrupt commands line "ON" and "ONI" which jump to a defined mark or call a defined program. Please find that commands in the reference malual under "Program commands".