Hello, dear forum.
I think I have a misunderstanding on how the DB works on Fanuc...
I need my robot to open a valve at the beginning of a trajectory, and then close it almost at the end of it without stopping the movement (Imagine that you're painting with an airbrush or spray).
The trajectory is only a straight line, so it should be easy...
I tried everything, CNT, FINE, DB, ACC, everything that came to my mind.
This is basically the code:
Code
: WAIT 1 (SEC);
: R[11] = 250;
: L P[8] R[11]mm/sec FINE DB 0.0 mm, CALL INI_PAINT;
: L P[9] R[11]mm/sec CNT100 ACC R[4];
: L P[10] R[11]mm/sec CNT100 DB 0.0 mm, CALL STOP_PAINT;
: L P[11] R[11]mm/sec CNT100 ACC R[4];I know that in KUKA you have an instruction called "CONTINUE" which keeps the logical pointer jumping between trajectories without stopping movements.
Any of you, smart people, have any idea?
Thanks.
