RobotStudio event

Weird behaviour of WaitRob with MoveL

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PetrB
PetrB ✭
in RAPID Programming
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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  • PetrB
    PetrB ✭
    Options
    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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