I'm moving the TCP to a Point with a PR offset. At a specified distance before I reach my point, I want the TCP to slow down from 250mm/s to 50mm/s. I'm can't figure out how to change the movement speed on the fly, so I decided to use Distance Before to call a macro (SLOWDOWN) that changes the override speed to 20%.
11:L P[3] 250mm/sec FINE Offset,PR[70:LSkirt X+W] DB 50.0mm,
: CALL SLOWDOWN ;
The problem is that it never calls SLOWDOWN. If I change it to Time Before, the program will call SLOWDOWN. Using Time before doesn't give the results I expect though - a TCP speed of 250 mm/s means that DB of 50mm should be the same as TB of .2 seconds, but using a TB of .2 seconds it doesn't slow until it's already reached P[3].
Is there something I'm missing here? Or maybe a better way to accomplish this? This is all being simulated in Roboguide, I haven't put anything on the physical robot. Rj3iB controller, I don't have BGlogic so that isn't an option.