I have a problem with a digital output that the robot sends to a PLC.
The robot picks up an empty pallet from a conveyer. If the robot is high enough above the conveyer the output to the conveyer (PLC) is set and the robot moves sideways to bring the pallet to an other place. The problem is that the output is set before the robot reaches the high position (where the robots starts to move sideways) so the conveyer starts moving in the new pallet too soon. Does anyone know what causes this?
I know about the wait until in pos function but I don't want to use this because in that case the robot stops moving all the time between 2 move instructions.
Any help would be appriciated.