Applying SSFTON during robot motion without stopping

    We are executing a motion including a 2-axis positioner and want to apply varying shifts using SSFTON during the motion to account for varying errors. Whenever we invoke SSFTON, the robot comes to a brief stop, leading to a jerky motion execution. Is there a way to apply a shift without making the robot stop?


    Thanks for any help or advice.

    Edited once, last by ajshort ().

    Here's a snippet of the relevant code - the robot pauses briefly each time it executes the SSFTON.

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