On CS8/CS9, you have a special task to manage the robot movment.
In your Movement() program you repeat all the time a new movment even if you don't change the value !
In this case, the robot execute same position as if it weren't moving.
1- You can control that the position is changing before to send a new position
2- It's bad to have a loop (even if you configure the task with low priority) without delay()
Try
Code
begin
pPosAct=here(tTool,world)
// or : pPosAct=Pos
while true
// Control the distance
if distance(pPosAct,Pos)>0.02
pPosAct=Pos
movej(pPosAct,tTool,mNomSpeed)
endIf
delay(0)
endWhile
end
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Be carefull, because you don't control the PLC transmission ! If the receive wrong value, the robot can become dangerous !
Other solution : To use Alter function...but you need option on the controller.
Have a good day !