Switching base without stop the robot

[abhi]

Dear Friends,
i think a really simple solution is   

bas(#base,1);activate base 1
xp1 c_ptp
bas(#base,2);activate base 2
xp2 c_ptp

i think this will work without any advance run stops .......

[asimo]

As I understand the problem abhi, lun81 wants to move the robot *without* switching bases because of some kind of "jolting". Of course, switching base directly as in your example is what I usually do.

[mookie]

yes, if you switch bases or tcps on the fly the robot does jolt, I found this out several years ago while doing roller hemming. You can change the data for the current base but you cannot change base numbers

[lun81]

Sorry to be late asimo...

Anyway I've been try your method and seems work good!I made the simulation on several points on different bases with different rotation.

Work good       

I must only check and make attention to reach each point. Because as far as i know the robot could reach a point in different way (with different axis rotation) .
So i have to create a routine that check the correct trajectory to reach a point with this method.
I will think about it..

Thank you very much again!