PULSEDO

In the next program, the robot stops betwen two LIN movements. I think that the problem is the PULSE instruction.

¿ Replacing the "PULSE(...)" instruction for"TRIGGER WHEN DISTANCE=0 DELAY=0 DO PULSE(...)" can solve this problem ?

LIN {X 156.37, Y 259.36, Z -104.68, A 85.29, B 18.29, C -93.82} C_VEL
ApplyPastePistol()
LIN {X 153.85, Y 272.3, Z -104.62, A 90.4, B -10.07, C -94.16} C_VEL

DEF ApplyPastePistol()
IF (m_iTimeApplyPasteU3 == 0)THEN
PULSE(m_BXdo_bU3ApplyPasteD1,TRUE,0.5)
ELSE
PULSE(m_BXdo_bU3ApplyPasteD1,TRUE,m_iTimeApplyPasteU3/1000)
ENDIF
END

I can't try with the robot, because it's in the customer home.

Thanks so much to all.

DAMIA