How to avoid that little stop between movements (IF clauses involved)

Hello all,

I'm trying to get an output ON without stopping the robot.

Of course I'm using

TRIGGER WHEN DISTANCE=0 DELAY=0 DO PULSE(ADO_bU21LiquidPApply,TRUE,0.5)

to get it done, but there are some conditions before that must be observed, therefore, I have some IF clauses and a couple of function calls prior to activating the output itself...

In pseudocode the logic flow is the following one:

; IN THE SAME SRC FILE THAN THE USER POINTS/PROGRAM
DEF UserFunction(iP1,iP2)
 INT iP1
 INT iP2


 IF (iP1==0) THEN
    HALT
 ELSE
   SWITCH iP1
    CASE 2
      IF(Global_bool_var)THEN
       IF(MOD(Global_int_var,iP2)==(iP2-1))THEN
         fxThatMakesThePulse(100)
       ENDIF
      ENDIF


    DEFAULT
      HALT
   ENDSWITCH
 ENDIF
END


;IN ANOTHER AND GLOBAL SRC FILE
GLOBAL DEF fxThatMakesThePulse(iT)
	INT iT


	  IF (iT == 0)THEN
	    TRIGGER WHEN DISTANCE=0 DELAY=0 DO PULSE(ADO_bU21LiquidPApply,TRUE,0.5)
	  ELSE
	    TRIGGER WHEN DISTANCE=0 DELAY=0 DO PULSE(ADO_bU21LiquidPApply,TRUE,m_iT/1000)
	  ENDIF


; Something will be handled in the SPS after a while...
  $TIMER[3]=0
  $TIMER_STOP[3]=FALSE
END

Of course, if in the main program I'm using the TRIGGER... call directly the robot is not stopping.

I would like to be able to keep the different functions and so in my logics in order to separate the physical inputs and outputs from the logics.

I've tried placing a continue just before any of the IF clauses present in the code with the same result...

Any idea or hint?

as always thank you in advance.

Thank you for your answer Eusty, but I'm afraid it reacts exactly in the same way. I've just made the test now (I've copied the content of the function inside the second SRC and pasted it directly where that function was called) and no change...

I've found a way to make it work as expected:

Writting CONTINUE before and after ANY program line inside the first and second functions... This is probably the ugliest thing I've seen for a long time...

CONTINUE
code
CONTINUE
code
CONTINUE
code
CONTINUE
code
CONTINUE
code
CONTINUE
code
CONTINUE
...

Do you know if I can activate some kind of global continue? I mean, I'd like to activate it before executing those functions and deactivate it again just after the functions have finished their job...

It should be something like:

GLOBAL_CONT_ACT
code
code
code
code
code
GLOBAL_CONT_DEACT

Thank you in advance

Thank you for your answer Skyefire, I've started again to check the program.

Note: believe it or not in the KUKA tech support told me that each IF clause stops the flow and that therefore I needed to put a continue just after each one.

Apart of that I've found some logic on the problem:

The second function can be called in two different situations: with the robot in movement or with the robot stopped. This made me to design the logics in the following way:

IF ($PRO_MOVE) THEN
  TRIGGER / DISTANCE...
ELSE
  PULSE
ENDIF

I've put a halt just after the TRIGGER/DISTANCE (to check if the program was going there or not).

The external code (the one who calls the second function) is something like:

LOOP
PTP 1
Function2
PTP 2
PTP 3
ENDLOOP

My surprise has been big when I've seen that some times the robot got stopped at the halt and that sometimes it was not getting stopped (therefore the normal PULSE was being called).

That's really strange, I've finished solving the issue putting a simple CONTINUE before the normal PULSE, but that is (at last) strange.

Pointing me to the manual has been great, I've noticed that asking for internal/system variables stops the movements, therefore I've also put the continue before the first IF clause (where the $PRO_MOVE var is being checked).

At last everything will work as expected.

Thank you all for your help and comments.