Triggios -> Extended Lag

I have a machine tending problem where I have an extended delay on the pneumatic gripper. (Won’t go there…. next time they’re getting servos)

Say have three points

P1 = [1000,0,500]

P2 = [2000,0,500]

P3 = [2000,0,480]

SO effectively move into location, then drop into place. Conventionally we’d just use fine points, and discrete open/close commands to the gripper. But the project has also been sold with a near unrealistic throughput, so I need to squeeze every last little bit out of the robot.

So I need to pre-empt the pneumatics to save about 1 hour over a day.  The problem is that pneumatics need to get called before P2, let alone P3.

Do the Trigg delays work on the command level, (i.e wont work) or does it program the motion controller in the background?

Pseudocode:

VAR triggios GripOpen{1};

GripOpen {1}.used:=TRUE;

GripOpen {1}.distance:=0;

GripOpen {1}.start:=FALSE;

GripOpen {1}.signalname:="doGripperClose";

GripOpen {1}.equiplag:=0.8;

GripOpen {1}.setvalue:=1;

MoveL p1, v5000, z200, tGripper;

MoveL p2, v5000, z5, tGripper;

TriggLIOs p3, v500, \TriggData1:= GripOpen, fine, tGripper;