Spline block with two triggers or one with wait sec

  • Hi,


    I have a spline block with a lot of spl movements. I have to do two operations in relation to one specific point. The first operation has to be done 80ms before the point and the second one hast to be done "exactly" on the point (both operations are in subprograms). I see two solutions:

    1. I use two trigger. One with a delay of -80ms and a second one (one line below the first one) with a delay of 0.

    2. I use one trigger to call one subroutine with a delay of -80ms and in the subroutine I use a WAIT SEC 0.08 between the calls of my two subprograms.

    Is one of the solutions better then the other one?


    Best regards,

    Franz

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  • Maybe I still have a problem with it. When I put the triggers into the spline block like this, the robot no longer reliably executes all the things in the subroutines. Is there something wrong with the code:

    Code
    SPL {X 517.449,Y 1553.766,Z 211.010,A -92.170,B -13.756,C 9.054} WITH $ORI_TYPE=#IGNORE, $VEL.CP=velocity_2_0[53,1] ;P106
    TRIGGER WHEN PATH=0 DELAY=-20 DO PROCESS_SPLINE_END_A() PRIO=-1
    TRIGGER WHEN PATH=0 DELAY=0 DO PROCESS_SPLINE_END_B() PRIO=-1
    SPL {X 482.298,Y 1557.953,Z 205.257,A -92.170,B -13.756,C 9.054} WITH $ORI_TYPE=#IGNORE, $VEL.CP=velocity_2_0[54,1] ;P107

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