Considering a path passing through several approximated points, let's suppose the robot is executing the following code:
Considering $ADVANCE is set to 1, as soon as the main run begins the second motion instruction (SPTP P2 C_SPL) the advance run pointer enters SubProgram().
What happens if SubProgram() keeps the advance run pointer stuck (or looping...)?
My guess is, there are two cases:
1) the advance run pointer is kept inside SubProgram() for a greater time than the one required for the robot to reach P2's approximation area
2) the advance run pointer jumps out of SubProgram() before the robot reaches P2's approximation area
So, for case 1, the robot should stop at the beginning of P2's approximation area and an alarm is triggered.
For case 2, the robot can blend the motion between P1-P2-P3 without stopping.
Is this correct? Normally I would try and experiment the code on the robot to observe the result, but I don't have a robot available right now.
Thank you all