movement anticipation

Hello shahryar

There are different solutions to achieve what you want:

1. Distance
   If your last motion is something like:

   Code

   movej(pLastPosition,tTool,mSpeed)

   you can use an instruction like:

   Code

   wait(distance(pLastPosition,here(tTool,fFrame))<100)

   This will not wait until the end of the movement, but until the tool is closer than 100mm to the last position.

2. moveID
   Every move instruction returns it’s ID in the stack. The instruction getMoveId() returns the moveID of the motion that is currently being performed by the robot. Not only that, but it also returns after the comma the completed percentage of the motion. A return value might be 22.35. This means that 35% of the movement with the ID 22 have been completed.

   Code

   nMoveIdToTrack = movej(pLastPosition,tTool,mSpeed)
   wait(getMoveId()>=nMoveIdToTrack+0.6)

   This will not wait until the end of the movement, but until at least 60% of the movement to the tracked position have been completed.

In both casses make sure it is possible to reach the requested distance/percentage (a big blending might prevent that, use the wait command after a couple of move instructions to ensure that a big blending can be performed).

Psyril Great awnser!