Is there a way to have some sort of logic to essentially interrupt the robot's current task and have it go home? We have two robots that are working on the same part, the first robot performs a couple tasks to it and then moves clear so that the second robot can perform a task, and then once the second robot is done they both go home and that operation is complete. The issue we are seeing is that if something goes wrong with either robot while it is performing its task, like the pressing operation not completing its cycle correctly, that part needs to be rejected. The first robot is the one receiving feedback from the press so if it doesn't complete it knows to reject it, but the second robot doesn't and will continue its program until it finishes the task, which is not desirable because we don't want to continue doing work to the part if it has been rejected. So we were thinking we might be able to potentially just have something that basically interrupts the robot and tells it to go home and get ready for the next part. Is this possible with the URs?