CONT motion breaks

Something is causing advance run stop but code you shared does not show those other instructions.

You need to look at all program lines, not only motions.

your example does not even show why your motions should be approximated at all - there is no indication that necessary initialization is done.

to see what causes ARP stop, lookup variable $stopnoaprox

(see pinned topic READ FIRST for accessing KUKA documentation).

Quote from Mangesh Shenavi

Here's my program

Def SUB_1()

PTP P1 CONT Vel=100%

PTP P2 CONT Vel=100%

End

Def SUB_2()

PTP P11 CONT Vel=100%

PTP P22 CONT Vel=100%

End

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What is the complete program? Whatever routine is calling SUB_1 and SUB_2 may have advance-braking commands between the calls. Or you may have default INI Folds at the top of SUB_1 and SUB_2 that are breaking the ARP.

We cannot help you without full details.

One option is to remove INI, but of course this can make programa not work correctly (or at all).

The better option is to check if i initialization is needed and only process INI when needed

I think the variable is called $MOVE_BCO:

If $move_bco then

INI

Endif

Quote from Mangesh Shenavi

Sorry, I wrote that program in tread for just an example.

So, where's the full program?

Quote from Mangesh Shenavi

And there is INI Folds in both programs that breaks CONT motion. But how can I achieve CONT motion ?

Don't put ARP-breaking code in between motions you want to be Continuous.

In this case, the INI Folds are definitely contributing factors (specifically, the calls to BAS(#INITMOV))

However, just deleting these creates a problem: it makes it much harder to hand-select SUB_1 or SUB_2 for teaching or testing. This is due to how KUKA handles BCO (Block Coincidence) and initialization of Velocity, Acceleration, and other motion-controlling variables.

As Panic says, one way around this would be to put the INI Fold inside an IF statement checking for the system variable $MOVE_BCO. This will cause the INI Fold to be skipped if BCO has already been achieved (as when SUB_1 or SUB_2 are called from another routine that has already achieved BCO), but will call the code in the INI Fold if BCO has not been achieved.

  IF $MOVE_BCO THEN
    ;FOLD INI
      ;FOLD BASISTECH INI
        GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
          INTERRUPT ON 3 
          BAS (#INITMOV,0 )
      ;ENDFOLD (BASISTECH INI)
      ;FOLD USER INI
        ;Make your modifications here
        PTP $AXIS_ACT
        $TOOL = $NULLFRAME
        $BASE = $NULLFRAME
        PTP $POS_ACT
      ;ENDFOLD (USER INI)
    ;ENDFOLD (INI)
  ENDIF

The USER INI code included above is not necessary, but I often find it convenient.

You can also use INI only in $T1 mode if you want to touch up some points or something like that. Or comment INI and uncomment when u need it.

Example:

If $T1 Then

INI

Endif

Or if is possible combine these two programs with each other and put motion moves together.