Hello people!
Today I've set up a small program to demonstrate the behaviour of the $advance value but it looks like it behaves differently from what I thought it should be! EDIT: I did the teste on a KRC4 8.3.15.109
My simple program is: (i've added line numbers here for better explanation)
Code
10 : INT C ;it's a global variable
15 : $ADVANCE=0
20 : C=0
30 : PTP $POS_ACT
40 : LIN_REL {X 50} c_dis
50 : C=1
60 : LIN_REL {X 50} c_dis
70 : C=2
80 : LIN_REL {X 50} c_dis
90 : C=3
100: LIN_REL {X 50} c_dis
110: C=4
120: LIN_REL {X 50} c_dis
130: C=5
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When I run the program (in T1), the robots executes the BCO move at line 30, and C is 0.
When I press the PLAY button again for half a second, the robot moves for maybe 20mm and C equals 3, this means that the robot has evaluated the instructions up to line 90!
How is that possible, given that I have set $ADVANCE to 0 in line 15?
This happens even if i remove the C_DIS instruction...
WHY???
diglo