I/O activate too early or too late (not exactly on point)

RAPID Programming
,
1

Hello,

i was make abb program for dispensing application. it was simple program that can trigger I/O when on path. But when i try it, i/o was On too late or off too early.

  1. MoveL [[129.548,579.408,30.000],[0.00000000,0.07483079,-0.99719625,0.00000000],[-2,-1,-1,1],[1723.550000,9E+09,9E+09,9E+09,9E+09,9E+09]],[120.00,500,5000,1000],z1,Tool3 \WObj:=Wobj_print;

  2. MoveL [[129.548,579.408,15.000],[0.00000000,-0.07483079,0.99719625,0.00000000],[-2,-1,-1,1],[1723.550000,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z1,Tool3 \WObj:=Wobj_print;

  3. MoveL [[111.033,338.484,15.000],[0.00000000,0.07483079,-0.99719625,0.00000000],[-2,-1,-1,1],[1723.550000,9E+09,9E+09,9E+09,9E+09,9E+09]],[120.00,500,5000,1000],z1,Tool3 \WObj:=Wobj_print;

  4. Dispensing 12.000; //this function set i/o to ON

  5. MoveL [[110.894,336.682,15.000],[0.00000000,-0.07483079,0.99719625,0.00000000],[-2,-1,-1,1],[1723.550000,9E+09,9E+09,9E+09,9E+09,9E+09]],[120.00,500,5000,1000],z1,Tool3 \WObj:=Wobj_print;

This was link of the picture( i/o start late):
https://drive.google.com/file/d/1DdQVr1-8CCEgIoa9ybZ_u8E7h20HCRYF/view?usp=drive_link

then I move the “Dispensing” function one line higher ( to line 3). then it activate it too early, not exactly the point i want.

  1. MoveL [[129.548,579.408,30.000],[0.00000000,0.07483079,-0.99719625,0.00000000],[-2,-1,-1,1],[1723.550000,9E+09,9E+09,9E+09,9E+09,9E+09]],[120.00,500,5000,1000],z1,Tool3 \WObj:=Wobj_print;

  2. MoveL [[129.548,579.408,15.000],[0.00000000,-0.07483079,0.99719625,0.00000000],[-2,-1,-1,1],[1723.550000,9E+09,9E+09,9E+09,9E+09,9E+09]],v50,z1,Tool3 \WObj:=Wobj_print;

  3. Dispensing 12.000;

  4. MoveL [[111.033,338.484,15.000],[0.00000000,0.07483079,-0.99719625,0.00000000],[-2,-1,-1,1],[1723.550000,9E+09,9E+09,9E+09,9E+09,9E+09]],[120.00,500,5000,1000],z1,Tool3 \WObj:=Wobj_print;

  5. MoveL [[110.894,336.682,15.000],[0.00000000,-0.07483079,0.99719625,0.00000000],[-2,-1,-1,1],[1723.550000,9E+09,9E+09,9E+09,9E+09,9E+09]],[120.00,500,5000,1000],z1,Tool3 \WObj:=Wobj_print;

This was link of the picture( i/o start to early):
https://drive.google.com/file/d/1H3E2zIONpoN6AgLQemRFz7xSIf74x9Wu/view?usp=drive_link

How do I get the I/O to start at the desired point (green arrow in image)? and prevent it from activating too early or too late

Thanks

nb: sorry i dont know how to post a picture

Regards,
Irham

2

Hello,
You can have a look to TriggL or MoveLSync.

3

I would probably change your zoning from z1 to fine

4

i try it, and no different for the i/o triggering . it also make the robot movement in curve was not smooth ( stop in every point).

edit : it work when i change the position of the function one line higher. and i think i just need the “fine” zoning just in few line not in all program line. Thanks