Posts by sborchshev

It is impossible to run two programs with motion instruction withing one motion group as far as I know.

Also for J6 you can set in configuration to Flip (FUT000 to NUT000) N stands for no flip. And use WJNT as move option.

Do not think calculation is the reason of slower motion. Calculating the pass consider total distance to calculate acceleration/deceleration. With many points even with CNT100 total distance for calculation is one extra point ahead and so on. So the acceleration/deceleration curve is different and so the speed over all. My thinking...

I am pretty sure you can pass a rotation direction argument to position register as well...

Even if your pick drop positions are dynamic they are defined at some point, so do the math on z positions desired way and use position register (not a point) for your intermediate point with xyz independently calculated/assigned.

BG program would affect all your programs. Are you having issue with one only or there is only program? Most definitely you calling an I/O that does not exist.

VARS-204 WARN Power off incomplete
Cause: Power off processing did not complete.
Remedy: If the problem persists, replace the hardware.

How long is your Ethernet cable? is it shielded?

Fine and CNT are your point termination. With fine it gets to complete stop, with CNT you can control how close the arc movement will be to your point. So normally it should not pause between points with FINE. Are CRX 10 running in collaborative or fast mode? If I remember right in collaborative they run @1000mm/sec max.

To me seems you robot settings needs confirmed.

You cannot reverse program execution. Only option would be two programs one is in one direction, the second would be in backwards. You can set steps in programs to be able to pick up from other then beginning/end. Use PNS program switching and send four input binary code from PLC to switch programs. only one motion program can be running in a time.