Sorry for being dense...
If you forward step from pATruss_10 to pATruss_1a, then backstep to pATruss_10 (without the ModPos) does it end up in the same pATruss_10 spot?
(I'm curious if the ModPos is responsible)
Posts by Iowan
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Could something as little as a bad controller battery have an effect?Certainly worth checking... I'm trying to remember if the SSD that failed on one of my machines had a separate backup battery.
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My S4C(+) robots have the MoveLDO/MoveJDO instructions.
What zone value are you using? As mentioned, you can use the "fine" zone to come to a complete stop. Sometimes z0 is enough, but the "lookahead" still occasionally causes me problems with I/O lead/lag. -
Are you backstepping the program, or repositioning the program pointer?
Is the behavior the same if you don't ModPos?
I presume you're stepping through the program - so you actually execute the PDispSet, rather than moving the PP directly to the ArcLStart?Make sure I understand:
Stepping through the PDispSet, the MoveL goes to pATruss_10.
The next forward step moves to pATruss_1a.
Backstepping (or moving the PP to the MoveL pATruss_10 and forward stepping) goes to a different position than the previous pATruss_10? -
I have an IRB 6400 M96 with a DSQC 239 card. It is used to map I/O between PLC and robot. I don't think it could be used for program transfer (but I've been wrong before...)
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