Advance and waits in KRC4 KSS 8.6

I'm trying to set up an area ocupation function in order to comunicate with a PLC to ocupy a workspace, and I'm having trouble with the Advance.

The code:

GLOBAL DEF AREA_PETITION(AREA_Nr:IN)
 INT AREA_Nr

 CONTINUE
 WAIT FOR $IN[AREA[AREA_Nr].I_ARLIB]
 OCUPY_AREA(AREA_Nr)
END

AREA[AREA_Nr].I_ARLIB Translates to an INT from the .dat file

In  OCUPY_AREA(AREA_Nr) there's a trigger, that part works like a charm.

The problem is that when the robot is comming to a point where it needs to wait for an area to be free and it's not, it will stop when the robot pointer reaches the wait instruccion even if before the robot arrives, the area is free and the wait finishes.

If the advance reaches the wait and it already is True, it will continue because of the "CONTINUE", but if the advance reaches the wait with the condition in false, then it becomes true, the advance seems to continue, but when the robot reaches the wait, it stops and starts again, like in a non CONT movement.

Is there a solution for this or am I doomed?

I can attach a video of a simulation showing the problem if needed.

Quote from Fubini

That is why STOP WHEN PATH aka conditional stop was introduced. Only available with spline.

Details can be found in e.g. in the spline section of the system integrators manual.

Fubini

Quote from Hes

I second Fubini s suggestion. I use stop when path myself all the time for these purposes and it is the perfect solution in my opinion. Brakes as late as possible and monitor up to a point without braking arp. And you can have 10 of them overlapping if you would require that. The perhaps only caveat i see with it is that you must use spline motions SPTP, SLIN, SCIRC, SPL,etc. But i do not see that as anything bad

That would be a perfect solution yes. I will test it and see how to use it without disrupting our standar.

Quote from panic mode

ok but is there anything else in the OCUPY_AREA() that causes advance run stop? what if you comment out call to that routine or use $stopnoapprox?

GLOBAL DEF OCUPAR_AREA(AREA_Nr:IN)
 INT AREA_Nr
 TRIGGER WHEN DISTANCE = 0 DELAY = 0 DO $OUT[AREA[AREA_Nr].O_ARLIB] = FALSE
END

There's nothing that could stop the advance there.

about the $stopnoapprox, I can't find anything about that to know what does that do.

I think I know what's happening.

Consider this scenario:

PTP P1 CONT
PTP P2 CONT
PTP P3 CONT
PTP P4 CONT
CONTINUE
WAIT FOR $IN[1]
PTP P5 CONT
PTP P6

Having the advance to 3.

If we run it with input 1 to TRUE, the advance will be able to calculate the patch for P3, P4 and P5 when it reaches those points.

If we run it with input 1 to FALSE, the advance will have to calculate the path from P1 to P4, then end the path there and wait until input 1 is set to TRUE, then it will start calculating the path to P5 and P6, but it won't modify the previous path from P1 to P4, so the stop will happen.

Using a STOP WHEN PATH would fix this, I just need to test if I can implenent it without disrupting the code too much.