I am trying to do a continuous movement between a linear and PTP movements, however, I am noticing that the motion of the robot is not completely continuous. The robot is decelerating at the end of the LIN movement and barely stopping before continuing the PTP movement. I tried to do some troubleshooting, by enabling the $STOPNOAPROX to true but there's no sign of not doing an approximation. Here is part of the code that include the LIN and PTP movement:
The $advance run is 5 and I am able to do an approximation between 2 PTP however it is not working well between LIN-PTP movement. In addition to that, C_PTP and C_DIS approximation values are equal to 100 for both.
Could someone give me more tips on what can be the cause of not doing a continuous movement?
Thank you for your support.