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Im not sure if it would help you in this case, It had to do with the look-ahead function. I was doing some calculations between 2 motions and the robot "paused". With the lock preg and unlock preg instruction the pause was gone.
Lock position registers means the position registers after the instruction can not be changed. So the motion behaves like a normal position motion.Here is a piece from the explanation in the manual:
Motion instructions that use position registers cannot be read in advance because the values in the
position registers could be changed by the program, data transfer function, and so forth.
If the robot reads a motion instruction that uses a position register prior to its execution, the value of
the position register might yet be changed by a program or another function (such as data transfer).
Such a change is not reflected in the motion instruction that has already been read by the robot.
Consequently, the robot’s operation might be unpredictable.You can find it in the setup and operations manual under advanced functions.
Hope it helps
Thank you for the information!! I am reading about it now and will let you know the results soon!