WaitTime and Motor on servoing timing

Robot Controller
1

Hi all,

I have written a simple program as follows:
PROC main()
MoveJ p29, v100, fine, tool0;
WaitTime 240;
ENDPROC

The controller is set to Autorun mode.
The first MoveJ was executed and the program pointer was at WaitTime command.
During the WaitTime command, the motor will only ON and servoing for about 120s and the the brake will be on, although the WaitTime is set to 240s.

I would like to have the motor ON and servoing for more that 120s. How can I extend the motor ON servoing duration?
Thanks.

Regards,
Sun

2

Hi,

Can anyone please enlighten me on the above issue?
Thanks.

3

For IRC5, the brake on time is under Control Panel–>Motion–>Motion Planner. For S4, System Parameters–>Manipulator–>Motion System.