Running code today that seems to work at a higher speed but not at low speeds i.e. robot less than 10%. From my understanding if I use a syn out with the end command on a cont move it will determine the "end" point as the point where approximation starts. When I run the robots quickly it seems to work fine. When I run it slowly it doesnt seem to ever get to the approximation point and the code hangs. It will sit at the P7 point as the PLC never sees the handshaking output 74 turn on. Is this because the next motion point is beyond the loop and approximation is delayed?
Code
;Move to stripper perch position without part
SPTP P7 CONT Vel=100 % PDAT5 Tool[1]:Gripper Empty Base[1]:Stripper
;Signal PLC that robot is at perch above pick position
SYN OUT 74 'Request Repo 5' State=TRUE at END Delay=0
LOOP
;Signal PLC that task is running
OUT 30 'Running Task 1' State=TRUE CONT
;If PLC signals early out then place call early out 1 routine
CONTINUE
IF $IN[25] == TRUE THEN
pick_strip_early_out1()
RETURN
ENDIF
;If PLC signals part is reject or unstrippable call reject or unstrippable routine
CONTINUE
IF $IN[26] == TRUE THEN
Reject_Or_Unstrippable()
RETURN
ENDIF
;Wait for PLC to signal its okay to pick part
CONTINUE
IF $IN[74] == TRUE THEN
OUT 74 'Request Repo 5' State=FALSE CONT
EXIT
ENDIF
ENDLOOP
;Move to stripper pick position
SLIN P9 Vel=2 m/s CPDAT3 Tool[1]:Gripper Empty Base[1]:Stripper
SYN OUT 74 'Request Repo 5' State=FALSE at START Delay=0 ms;
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