Smoothing out program

What kind of motions/routines are you running?

Sounds like youre missing a continue some place..... A copy of the lines before and after you change routine would maybe help so its easier for us too see =)

If all of your routines have a INIT section at the top, particularly a call to BAS(#INITMOV), that will cause the robot to come to a brief halt every time you call a new routine. However, the robot should not jer unless you have your accelerations set rather high.

Hi.
You have to search for an instruction that stops the advance pointer. Is the First instruction a movement?

Neranol

Are there any non-local interrupts declared in your modules? That can cause an Advance run to break at an END statement, which of course every module ends with.

Flag evaluations trigger an advance run stop. If the robot is in the middle of a move while this advance run stop occurs, you may see a momentary stop in motion.

Try writing a CONTINUE on the line previous to any IF... statement in this routine.

So it would look like this:

CONTINUE
if $flag[28] then
H1pour8()
endif
CONTINUE
if $flag[29] then
H1pour9()
endif

The CONTINUE forces a continuation of the advance run pointer, thus allowing your motion to continue.

You want to be very careful about using the CONTINUE command -- with the default $ADVANCE value of three, that could cause the $FLAG to be checked 3 motion steps before the robot actually arrives at the decision point. If the $FLAG isn't set far enough in advance, the branching behavior could become unpredictable.

In addition to skyefires comments, do you do multiple pours? If not maybe a switch statement might be cleaner?
Also if your evaluating the io directly that can slow things down, have a look at putting the evaluation in the sps.

Sent from my iPhone using Tapatalk

Quote from Metalikooky

Flag evaluations trigger an advance run stop. If the robot is in the middle of a move while this advance run stop occurs, you may see a momentary stop in motion.

Try writing a CONTINUE on the line previous to any IF... statement in this routine.

So it would look like this:

CONTINUE
if $flag[28] then
H1pour8()
endif
CONTINUE
if $flag[29] then
H1pour9()
endif

The CONTINUE forces a continuation of the advance run pointer, thus allowing your motion to continue.

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To make sure youre programs is executed at the right times I wouldve have used a subroutine which I wouldve called with a trigger distance function (cause I guess you have points you can trigger on). Cause as SkyeFire mentions, continue can be a bit dangerous at times. Also as mentioned here a switch for all youre pour programs might be a bit cleaner..

So I would have maked the code something like this:

; If distance=1 it will jump into the subroutine when the first position after this line is reached.
TRIGGER WHEN DISTANCE=1 DELAY=0 DO Prog_Pour() PRIO=-1

DEF Prog_Pour

CONTINUE
if $flag[28] then
H1pour8()
endif
CONTINUE
if $flag[29] then
H1pour9()
endif

END

Quote from SkyeFire

Are there any non-local interrupts declared in your modules? That can cause an Advance run to break at an END statement, which of course every module ends with.

I am having the same problem and I have a global interrupt monitoring my gripper status. How can I work around this if in fact this is the cause of my pauses?

Without details, I can only shoot in the dark. But my first though is to make a Global interrupt, or declare the Interrupt in your highest-level routine, and only turn the Interrupt on/off in your lower-level routines.