Hello everyone,
When I run my RSI program on the robot an error always appeared. The robot stopped in the "ST_MOVESENS(1) " .
I check the meaning about the object ST_MOVESENS in help document.
Description:
RSI command for a breakable movement (see ST_BREAKMOVE).
Allows a pure sensor guided movement with corrections
from ST_PATHCORR or ST_AXISCORR RSI objects.
It is possible to break the movement with a BREAK signal.
The behaviour in case of a break is defined with parameter MODE.
Declaration:
GLOBAL DEF ST_MOVESENS(MODE:IN)
Parameters:
IN MODE (INT): Break mode
0: Continue
1: Continue on IR
2: Continue on start
QUESTION:
1)There are three kinds of parameters (0,1,2) and the question is I do not really understand these three parameters.
2)If I use parameter 2 in this object, that is ST_MOVESENS(2), I can find the robot did not error but the robot did not move according to the correction data.
My RSI version is 2.3.3 , the KSS is KRC 2 and the robot is KR 16-2.
Thanks very very much for any idea !