Adding offset while in motion

    Is it possible to add an offset to the path while the robot is moving from one point to another, e.g. if I'm going from P1 to P2, and I want to add an offset of 10mm half way through because there's a sudden change in the location of the target. I know I can do this with say P2:P_offset if the offset is known before hand, but I need to handle this in real time.

    Thanks in advance! :smiling_face:

    Sort of, but not really.
    Once a motion has begun, the only way to modify it "in flight" is to either stop the robot momentarily and make adjustments using an Interrupt, or to use an option package like RSI or FTC.

    If I needed to do something like you're suggesting without either of those options, my first thought would be to create a set of many points along the path of the motion, with a Trigger command at each point checking for the input and performing a Base or Tool shift if the input is received. Probably also want to turn down $ADVANCE to 1.

    Thanks SkyeFire. I've actually done something similar for another project, where I've done incremental movements and used interrupt to check for changes in the path required:

    Code
    INTERRUPT ON 20
FOR i = 1 TO 10
  ...
  LIN P1:P_offset
ENDFOR
INTERRUPT OFF 20

    And the interrupt calls a function which adjusts the value of 'P_offset'. I was thinking maybe there's a smarter/tidier way to do this, but I may have to do that again for this. The client doesn't have RSI or FTC and I can't imagine they would want to spend the money for this one part of the code, so that option is out of question.

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