Is that trigger when path right?

  • Hello

    I have a program like below:


    These triggers works like:


    In the secondd trigger is 70 ms, not -70 like on the picture.

    Am I right?

    Thank you

  • AD
  • no....

    both path and delay can be positive OR negative values.

    positive value is AFTER some reference

    negative value is BEFORE some reference

    so your code says go to point that is 80mm AFTER its reference (P20)

    but do the action is executed 70ms BEFORE you get there (hence -70ms delay)

    this makes sense due glue viscosity:

    when you turn it on, it takes some time to start coming out of nozzle (t1).

    when you turn it off, it takes some time to stop coming out of nozzle (t2).

    but if robot moves at different speed, fixed values for t1 and t2 would cause action to be at different places.

    this is why you need TRIGGER command - to account for those delays of the glue dispenser.

    you can test the dispenser without moving robot to determine the delays.

    then you put those in your commands and program path as usual and you get spot on start and stop of the glue bead regardless what speed you use.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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