I'm asking for an advice how to do recovery routine "Staubli approved way".
At the moment I was going to do it the same way as I did it on ABB robot, by remembering a unique number for my last passed position and during recovery find it and step back number by number until the robot be at home. When I start typing these uniqie number I realized that Staubli robots run move instructions and other instructions separately and I need to use WaitEndMove, when I want to synchronize them.
My question is: In above example, will the controller update nRecoveryPos variable after robot robot actually pass the point or it will do it instantaneously even before robot pass the first point,
So before jSafePickTab will be reached the nRecoveryPos will be 10003 instead of 10001?