Continuous movement in a loop

I am trying to move the robot based on external inputs, which updates a POS, P_offset, which is polled using a timer and updated in an interrupt. Timing of when P_offset gets updated is not critical.

The main part of the code that moves the robot resides in a REPEAT loop. The robot follows the external input without problems, however it stops between each movement. I initially had:

; Set tool and base.
$TOOL = TOOL_DATA[1]
$BASE = $NULLFRAME	;BASE_DATA[1]


CONTINUE
REPEAT
	PTP $POS_ACT:Sensor_Offset


	CONTINUE
UNTIL (run_saved==TRUE)

However this didn't work. I then tried to add a second pos in there hoping that it'll give the robot enough 'look ahead' to make the movement continuous, but this didn't work either:

; Set tool and base.
$TOOL = TOOL_DATA[1]
$BASE = $NULLFRAME	;BASE_DATA[1]


CONTINUE
P_current = $POS_ACT
P_next = $POS_ACT:Sensor_Offset


REPEAT
	PTP P_current
	PTP P_next

	P_current = P_next
	P_next = $POS_ACT:Sensor_Offset


	CONTINUE
UNTIL (run_saved==TRUE)

Software is v5.4. Any suggestions would be much appreciated

Quote from Fubini

How about activating approximation:

PTP XP1
PTP XP2

robot stops.

$APO.CDIS = 100
PTP XP1 C_DIS
PTP XP2

no more stops.

Fubini

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Thank you for the suggestion. I tried C_DIS but had an error (can't remember what it is off the top of my head). I will give this a try tomorrow

Looks like the KRC2 controller died overnight so I won't be able to try this until I get that sorted out...!

Have updated the code and unfortunately still doesn't move the way I want it - continuously. I have tried different values of $APO.CPTP (5-100) and nothing worked

Perhaps I am going about this the wrong way?

; Set tool and base.
$TOOL = TOOL_DATA[1]
$BASE = $NULLFRAME	;BASE_DATA[1]
$APO.CPTP = 25


CONTINUE


P_current = $POS_ACT
P_next = $POS_ACT:Sensor_Offset
REPEAT


	PTP P_current C_PTP
	PTP P_next C_PTP

	P_current = P_next
	P_next = $POS_ACT:Sensor_Offset


	CONTINUE
UNTIL (run_saved==TRUE)

Sensor_Offset is updated in an interrupt that is set to run every 50ms, it's data over DeviceNet. Every interrupt Sensor_Offset is updated:

DECL POS Sensor_Offset
...
Sensor_Offset.X = dir*const

Where dir is a direction (1 or -1), and const is how much to move by, e.g. 10.

I have just looked up advance run stop in the KSS 5.2 manual, this is what it says:

Quote

In applications where this advance run stop should be prevented, the command CONTINUE
must be programmed immediately before the relevant instruction.

So I'll try that soon and report back. Otherwise is there anything else I might be doing wrong?