Continuous run with two diferent job request from PLC

    Hello,

    Details on system:
    Robot: KR510R3080
    Control er: KR C4
    KSS: V8.3.33

    Robot is PLC slave

    I have handling application with separate jobs for pick and place.

    To take over job we use simple program with handshake after job is taken from PLC.

    At the moment we have two wait for $IN x lines in handshake routine that kill the advanced run.

    Is it possible to take over next job before current is finished to avoid stop in motion and continue with continuous run ?

    Does CONTINUE in front of wait help with that if we get all the signals that we "wait for" before previous motion is finished ?

    Please share some experience if somebody did something similar.

    My first idea was to get both jobs (pick and place) at once, with one" taking job from PLC" routine , but idea it was rejected from leaders of the project.

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