Hi Fluke,
Thanks for your help. I overcame this difficulty. Now, I have another problem to approximate the PTP_REL motion. The code is something like this.
$VEL_AXIS[1]=70
IF WEIGHT>=HIGH_WEIGHT THEN
$ACC.CP=3.0
$VEL_AXIS[1]=50
ENDIF
;
$VEL_AXIS[2]=$VEL_AXIS[1] ;*
$VEL_AXIS[3]=$VEL_AXIS[1] ;*
SWITCH SECTION2
;
CASE 1
;
$APO.CPTP=80
PTP_REL {A1 -15, A2 -30,A3 -20} C_PTP
;
CASE 2
;
$APO.CPTP=80
PTP_REL {A1 15, A2 -30,A3 -20} C_PTP
;
ENDSWITCH
The robot is always stopping at this point. I tried many tricks but it seems like something is bothering it.
Thanks