Weird behaviour of WaitRob with MoveL

PetrBPetrB Auckland, NZ
Hi,

I'm troubleshooting one program, which have some weird behavior. When robot starts to execute MoveAbsJ, it moves very slowly for few seconds and then finish the move with normal speed. I isolated problem to those 4 commands, all other modules are deactivated. Any idea whats wrong?


        WHILE TRUE DO
            MoveL [[0.001,231.257,-153.191],[0,-0.707106781,0.707106781,0],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v200,fine,t_Sonotrode_8x18_185\WObj:=wobj_Toyota_817_B;

            WaitRob\Inpos;

            MoveL [[0.001,231.257,-153.191],[0,-0.707106781,0.707106781,0],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v200,z20,t_Sonotrode_8x18_185\WObj:=wobj_Toyota_817_B;

            MoveAbsJ [[0,10,50,0,-60,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v2000,z200,t_Connecting_flange\WObj:=wobj_World;
        ENDWHILE





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Answers

  • PetrBPetrB Auckland, NZ
    Thanks Maxim, changing the zones helped. I agree there is no purpose for WaitRob with fine parameter, it's just code I was given to
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