Hi! I'm programming a glue path using spline block. At the beginning of the spline I need to "DISPENSING ON". The glue need a little time to exit from the head so ideally I must anticipate the "DISPENSING ON". I want to use TRIGGER WHEN PATH but I do not understand if what I'm using here is right because it seems not to work.
If I understand it right 150 milliseconds pefore the robot arrives on "DepCollaZona1_DX_P0" the output goes on...
What if I use "TRIGGER WHEN PATH = -10 DELAY = 0 DO O81_Dispensing = TRUE". Does It work on the first point of the spline? Moving from Over_DepCollaZona1_DX to DepCollaZona1_DX_P0 on the path between those two points the dispenser is turned on 10 mm before DepCollaZona1_DX_P0 right? The path is a movement parallel to ZX plane in tis case.
SLIN Over_DepCollaZona1_DX Vel=2 m/s CPDAT221 Tool[1]:GLUE Base[2]:POS2
SPLINE Deposito_Colla_Zona1_DX Vel=2 m/s CPDAT176 Tool[1]:GLUE Base[2]:POS2
TRIGGER WHEN PATH = 0 DELAY = -150 DO O81_Dispensing = TRUE
SPL DepCollaZona1_DX_P0 Vel=2 m/s CPDAT216 ColDetect=
SLIN DepCollaZona1_DX_P1 Vel=0.32 m/s CPDAT187 ColDetect=
SLIN DepCollaZona1_DX_P2 Vel=0.32 m/s CPDAT187 ColDetect=
SPL DepCollaZona1_DX_P2a Vel=0.25 m/s CPDAT208 ColDetect=
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ENDSPLINE