I was looking throw a KRC4 code trying to fix a small stop that is messing with the robot and causing some slow times, and I found a difference between the robot that doesn't have the unwanted Stop and the one that has.
The one that has that stop has, at the end of the FDAT, "TQ_STATUS TRUE" and the one that doesn't have those stops is set to FALSE.
I don't know if that's making it to stop, but either way I was looking some information about what that does and I can't find anything, could someone help me understand please?
Code: ROBOT STOPS
;FOLD FDAT
DECL FDAT FCOGIDA_P10={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL FDAT FCOGIDA_P20={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL FDAT FCOGIDA_PCOGIDA1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL FDAT FCOGIDA_PCOGIDA2={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL FDAT FCOGIDA_PCOGIDA3={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL FDAT FCOGIDA_P30={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL FDAT FCOGIDA_P40={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL FDAT FCOGIDA_LIBERACION={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
;ENDFOLD (FDAT)
Code: ROBOT DOESN'T STOP
;FOLD FDAT
DECL FDAT FCOGIDA_P10={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL FDAT FCOGIDA_P20={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL FDAT FCOGIDA_PCOGIDA1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL FDAT FCOGIDA_PCOGIDA2={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL FDAT FCOGIDA_PCOGIDA3={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL FDAT FCOGIDA_P30={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL FDAT FCOGIDA_P40={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL FDAT FCOGIDA_LIBERACION={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
;ENDFOLD (FDAT)