How to continue robot movements while setting IO

    KR-8 / KRC4 Compact with EasyCAT module set up to receive analog and digital signals from the krl.src program. Code example below.

    Code
    $ADVANCE = 5
LIN {X -81.071,Y 247.020,Z 1049.720,A -176.411,B 82.473,C -170.883} C_DIS
$ANOUT[2]=9.210
$ANOUT[3]=0.790
LIN {X -79.566,Y 229.460,Z 1052.110,A -176.194,B 82.407,C -171.104} C_DIS
$ANOUT[2]=7.018
$ANOUT[3]=2.982
LIN {X -78.228,Y 212.954,Z 1058.600,A -176.041,B 82.239,C -171.366} C_DIS

    Currently the robot is jolting between the linear targets, Is there anyway to send the I/O signals while keeping the motion smooth?

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