Good day, Sirs.
I have the following question:I have been transfering information about the position of the robot to the controller and back. I have a KAREL program on robot, that have CALL from TP. That program receive data by EthernetIP from controller, move this data to the Position Register, robot go to that position, and after that KAREL send current position back on the controller.
On controller i have timer that counts time before sending and receiving data.
When robot not moving, that time is about 170ms. But after first moving that time goes up to the 400ms.
It's seems like robot trying to lock a groups (robot and positioner) and KAREL whaiting for groups to be unlock.
I had try %LOCKGROUP=1,2, %PRIORITY=1, %TPMOTION, %ENVIRONMENT MOTN and so on. But nothing helps.
Does someone know how to reduce this communication time? Maybe some system vars or some KAREL routines?
I really hope for your help!
I apologize for my terrible English