I would compare the current position of the robot with the previous point and the success point.
example:
PTP home
Lin point1
Lin point2
Lin point3
Lin point4
if point1.x<$pos_act.X<home.x and point1.y<$pos_act.y<home.y and point1.z<$pos_act.z<home.z then......
..........
endif
i try to do this but the syntax is not right
Can someone help me please?
Thanks