I found that DISTANCE(HERE,DEST) sometimes doesn't work - maybe because the destination is still from the previous movement .... (???)

So I found MVWAIT and thought this integrated function should work properly ... but I still got the same problems

LMOVE pick_pos+TRANS(50, -50,50)
LMOVE #lv1_out
MVWAIT 10 MM
CALL close_l_arm

The CALL should happen close (10mm) to the #lv1_out precision point - but during testing it happens much earlier

Is there any instruction which I should add between the moves ?
How can I start the CALL without stopping the robot in between (like with a "break")

Dear TRapp,

did you think of the switch "PREFETCH.SIGINS"? Please see the manual. Please also note about the accuracy range.

thanks for your reply

cirint.png - Bild entfernt (keine Rechte)
Yes - I have DEST_CIRINT OFF and PREFETCH.SIGINS ON
so the destinations are #b for the first part of the movement
and #c for the second part of the movement
for example:

PREFETCH.SIGINS ON
DEST_CIRINT OFF
CP ON
ACCURACY 100 ALWAYS
JMOVE #a
JMOVE #b
JMOVE #c
MVWAIT 10mm
SIG valve1
 
 

I want to switch the output 10mm before reaching #c - but in the code above it might switch already close to #b
Depending on the movement it might work or not (if the movement comes close enough to #b)
It could probably even fail randomly, depending on speed and/or CPU load (if the move touches the 10mm distance to #b tangentially)

Of course I want to run fast speed CP over point #b with low accuracy - I can't waste cycle time with a "BREAK"
I haven't met this problem with other robots - the destination referred always to the very last destination.
So what is the best option to solve this in AS language ?
Doubling the MVWAIT instruction ?
for example:

JMOVE #a
JMOVE #b
JMOVE #c
MVWAIT 50mm ; waits until the destination has already changed from #b to #c
MVWAIT 10mm ; wait until close to next (final) destination #c
SIG valve1 ; switch the valve 10mm before final destination #c 
 
 

Is that a valid solution - or do you have any better idea ?

Thank you

We mostly use the following code to find a position with a sensor signal while moving. The DISTANCE function is working well in our case, maybe because there's no blending before JMOVE #c but a BREAK.

    JMOVE #c
    .done = FALSE
    WHILE NOT .done DO
      IF DISTANCE (HERE, DEST) <= 10 AND NOT .done THEN
        .done = TRUE
        SIGNAL valve1
      END
    END
 

You may check the above code in your environment. If it is not working well, you can try to replace DEST with a TRANS position that represents #c like this:

POINT c = #c
:
WHILE...
:
    IF DISTANCE (HERE, c) ...
    :
 

Of cause there will be no blending in position #c because the forerun pointer is caught in the WHILE loop until the distance is reached.

great

I already had a routine like this before
.PROGRAM move_close(.dist1)
WHILE DISTANCE(HERE,DEST) > .dist1 DO
TWAIT 0.1
END
.END

Thanks a lot - I will figure it out.

Hello together,

with RSIGPOINT (see AS-Language Manual) it should also work.