If I have multiple consecutive motion instructions with aproximation (f.i. z100),
is it then so that the program pointer only goes to the next line if the aproximation point is reached.
For instance we haveMoveL P1 z100, then MoveL P2 z100, then MoveL P3 z100.
At the beginning motion and program pointer will be at MoveL P1 z100. The program pointer will go to MoveL P2 z100 when the
approximation point near P1 is reached.
I need to know this because of the other (non motion) instructions that can be between the motion instructions, and I must be sure when they are executed.
IRC5 program pointer
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Plc_User -
February 2, 2019 at 5:31 PM -
Thread is marked as Resolved.
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With corner paths, the read ahead will execute those instructions well ahead of the robot motion. What type of instructions are you talking about? Set/reset IO, or other instruction types?
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MoveLDO p1, v100, z100, tool2, do1,1;
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If you want to execute a logic instruction timed precisely you cannot rely on program pointer position. You must put the instructions next to a fine move or use a trigger.
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Plc_User
The fact that you have motions with z100 tells me that you signal dont have to very very precise. As long as they are in between the point you will be happy. For that use the command Triggj or L and turn your outputs on/off based on a distance
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Technical reference manual - RAPID Overview
See 2.3 Synchronization with logical instructions: