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()
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
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 !