calculated position

dear all,

i have some position which i decalre them in the dat file as e6pos.
the problem is that the robot is stopping between them, but i can not make them to be continues as i do when i tech the point.
how can i make a continues motion for calculated position?

zeev

Quote from panic mode

post your code

;fold release check
IF (PTRconv>0) AND (PTRconv<4) THEN
ReleaseGripperPlastic()
ELSE
ReleaseGripperCarton()
ENDIF
;endfold

;FOLD checking oriantatio and setting current layer
SWITCH PTRconv
;fold plastic
CASE 1
$BASE= BASE_DATA[1]
MoveToPosAplastic()
TempPickPos.z = HighPoint
PTP TempPickPos
LayerCurrent = LayerLevel[NumberOfLayers[PTRconv]]
CASE 2
$BASE=BASE_DATA[2]
MoveToPosBplastic()
TempPickPos.z = HighPoint
PTP TempPickPos
LayerCurrent = LayerLevel[NumberOfLayers[PTRconv]]
CASE 3
$BASE=BASE_DATA[3]
MoveToPosCplastic()
TempPickPos.z = HighPoint
PTP TempPickPos
LayerCurrent = LayerLevel[NumberOfLayers[PTRconv]]
;endfold
;fold carton
CASE 4
$BASE=BASE_DATA[5]
IF ConveyerBoxType[PTRconv]==1 THEN
IF CartonOrin[1] == FALSE THEN
MoveToPosAcartonT1()
ELSE
MoveToPosA180cartonT1()
ENDIF
ELSE
IF CartonOrin[1] == FALSE THEN
MoveToPosAcartonT2()
ELSE
MoveToPosA180cartonT2()
ENDIF
ENDIF
TempPickPos.z = HighPoint
PTP TempPickPos
LayerCurrent = LayerLevel[NumberOfLayers[PTRconv]]
CASE 5
$BASE=BASE_DATA[6]
IF ConveyerBoxType[PTRconv]==1 THEN
IF CartonOrin[2]==FALSE THEN
MoveToPosBcartonT1()
ELSE
MoveToPosB180cartonT1()
ENDIF
ELSE
IF CartonOrin[2]==FALSE THEN
MoveToPosBcartonT2()
ELSE
MoveToPosB180cartonT2()
ENDIF
ENDIF
TempPickPos.z = HighPoint
PTP TempPickPos
LayerCurrent = LayerLevel[NumberOfLayers[PTRconv]]
CASE 6
$BASE=BASE_DATA[7]
IF ConveyerBoxType[PTRconv]==1 THEN
IF CartonOrin[3]==FALSE THEN
MoveToPosCcartonT1()
ELSE
MoveToPosC180cartonT2()
ENDIF
ELSE
IF CartonOrin[3]==FALSE THEN
MoveToPosCcartonT2()
ELSE
MoveToPosC180cartonT2()
ENDIF
ENDIF
TempPickPos.z = HighPoint
PTP TempPickPos
LayerCurrent = LayerLevel[NumberOfLayers[PTRconv]]
;endfold
ENDSWITCH
;ENDFOLD
TempAbove=$POS_ACT
curLevel = NumberOfLayers[PTRconv]
TempPickPos.z = LayerLevel[curLevel]
LIN TempPickPos
IF PickPlastic==TRUE THEN
IF Grip1Open==TRUE THEN
PlasticClose1()
ENDIF
IF Grip2Open==TRUE THEN
PlasticClose2()
ENDIF
WAIT SEC 1
ELSE
IF Grip1Open==TRUE THEN
CartonClose1()
ENDIF
IF Grip2Open==TRUE THEN
CartonClose2()
ENDIF
ENDIF
;FOLD checking box position number for running away
TempPickPos.z = TempPickPos.z + RunAwaySize
;runaway up only for plastic
LIN TempPickPos
SWITCH BoolPos
CASE 1
TempPickPos.x = TempPickPos.x - (RunAwaySize/3)
TempPickPos.y = TempPickPos.y - (RunAwaySize/3)
CASE 2
IF MatConveyer[2,PTRconv] == TRUE THEN ;we have blocking condtion
TempPickPos.x = TempPickPos.x - (RunAwaySize/3)
TempPickPos.y = TempPickPos.y + (RunAwaySize/3)
ELSE
TempPickPos.x = TempPickPos.x - (RunAwaySize/3)
TempPickPos.y = TempPickPos.y - (RunAwaySize/3)
ENDIF
CASE 3
TempPickPos.x = TempPickPos.x - (RunAwaySize/3)
TempPickPos.y = TempPickPos.y + (RunAwaySize/3)
CASE 4
TempPickPos.x = TempPickPos.x + (RunAwaySize/3)
TempPickPos.y = TempPickPos.y - (RunAwaySize/3)
CASE 5
TempPickPos.x = TempPickPos.x ;- RunAwaySize
TempPickPos.y = TempPickPos.y ;- RunAwaySize
ENDSWITCH
LIN TempPickPos
;TempPickPos.z = TempPickPos.z + LayerCurrent - RunAwaySize ; move up
;LIN TempPickPos
LIN TempAbove
;ENDFOLD
BoxInGrip = TRUE ;The Gripper has a box on it

;fold Check if boxes on gripper
IF CheckBox==TRUE THEN
CheckBoxOnGriper()
ENDIF

;endfold