Hello all,
Let's say I have a movement (MoveJ or MoveL this will happen in both) and, when the movement enters the rounding corners zone (z10, z100...) I want to call some procedures that handle outputs:
Code
MoveJ pStartPickFromBox_Cx, v1000, z10, toolClamp\WObj:=wobj0;
rotateClamps;
openClamps;
MoveL pPrePickPart...
I'm afraid those procedures will be called just when the movement starts as the lookahead function of the robot will call the "logic" lines instantly.
Would "WaitRob \InPos" placed in front of the function call give me the desired result? (call the procedures when the robot is inside the last movement zone, z10 in this case).
Code
MoveJ pStartPickFromBox_Cx, v1000, z10, toolClamp\WObj:=wobj0;
WaitRob \InPos;
rotateClamps;
openClamps;
MoveL pPrePickPart...
I could use also WaitTime 0; instead of Waitrob \InPos;
Is there any more elegant way that moreover doesn't stop the robot at the end of the pStartPickFromBox_Cx movement?
Thank you very much in advance.