Hi
Today I observed the following behaviour on the KR30 robot we have in our company:
If I make the following program:
LIN SomePoint
PTP SomeOtherPoint
CONTINUE
$OUT[55] = true
Then $OUT[55] will not be set to true until the LIN movement is finished, and the PTP movement has started. I have set $ADVANCE to 3, so I dont understand why the output is not set earlier. If I instead make the following program:
PTP SomePoint
LIN SomeOtherPoint
CONTINUE
$OUT[55] = true
Then the advance-pointer will race ahead, and $OUT[55] will be set to true before the linear movement is started. Can someone explain why the behaviour is not the same in the two cases?
The code was tested on a KR30 robot with KRC2 controller and KSS 5.5.10
/RoboticsMan