MoveLSync without stopping

xerim

Hello,

I am trying to use MoveLSync without the robot stopping, however when the robot reaches the robtarget specified in my MoveLSync instruction, the motion stops as the program pointer has jumped to the other proc. How can I execute this without the robot stopping once it reaches the target? 

Thanks

davidmalott

The procedure called within MoveLSync needs to complete itself first before the PP return to the the next instruction line, so it depends what you are trying to do. 

lemster68

How big a zone have you defined?  Is there a whole lot of code in the routine?  Especially, any waiting for a DI or condition?

xerim

lemster68 said:

How big a zone have you defined?  Is there a whole lot of code in the routine?  Especially, any waiting for a DI or condition?

The zone is relatively big (100mm), but the proc the MoveLSync  calls does contain many WaitUntil instructions. Essentially  I have a routine that prepares a tool for work, and a turn table that runs on a stepper motor and uses limit switches to get positional information. What I am trying to do is trigger the table turning to the correct limit switch while the tool is being prepared simultaneously. 

lemster68

So I suppose in your motion event log you will see a corner path failure warning identifying this line number.

xerim

No corner path failure present in the motion event log

lemster68

None, whatsoever?  There is a parameter to turn that off, though.

xerim

I mean there is one, but not for my MoveLSync instruction, but for when the robot returns to the home position at the end of the procedure. 

lemster68

Hmmmm, I would expect that it would flag the warning if it is stopping.  Do you have multitasking?  Or, can you get things prepared sooner, like when robot completes one task and is moving away?  Perhaps break it up into smaller procs.

xerim

Breaking up into smaller procs isn't a bad idea, I don't have multitasking but it would be ideal for an application like this. The biggest obstacle I am facing right now is the procs for turning the table all depend on WaitUntil commands that are fulfilled by limit switches triggering at certain positions. Is there a way to have a proc running in the background without multitasking? 

lemster68

No, not really.

MattB

You can try to use \Conc parameter to execute some code in background while robot is moving. To be able to use it you have to use MoveL/MoveJ command.

xerim

MattB said:

You can try to use \Conc parameter to execute some code in background while robot is moving. To be able to use it you have to use MoveL/MoveJ command.

Does \Conc take a proc as an argument though? I need to trigger an entirely different proc while another one is already executing. 

MattB

No, it's not possible to use an argument. If you use \Conc in move instruction program pointer will jump to the next line and start command or proc instantly without waiting for robot to reach a corner zone.