Hallo everybody
I made a simple move - trajectory only with one axis (A6) all the others no move.
the simple program is a countinious move from a point to other , pause and go back.
During the move I switch from #AUT to #T2 , the roboter stop quickly.
For restart , after switch again to #AUT and give power to axis I found 3 case :
1) $ON_PATH = TRUE ($NEAR_POSRET is always true in all the 3 case)
The robot restart with a simple start push (Green button)
2) $ON_PATH = FALSE
(the axis pass a little bit the command position)
The robot make a little slow move backward and then restart in the right direction
Also in this case I give only one little push on the start button
3) $ON_PATH = FALSE
Sometime I must push and keep pushed the START during all the robot move (like go to sak - bco)
then I release and push again
I like understand how to discriminate the 2 and 3 case , which variable I can test to preview the starting - type
Thanks
