Weird behaviour of WaitRob with MoveL

RAPID Programming
1

Hi,

I’m troubleshooting one program, which have some weird behavior. When robot starts to execute MoveAbsJ, it moves very slowly for few seconds and then finish the move with normal speed. I isolated problem to those 4 commands, all other modules are deactivated. Any idea whats wrong?

https://youtu.be/rQMykyxFWus

WHILE TRUE DO
MoveL [[0.001,231.257,-153.191],[0,-0.707106781,0.707106781,0],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v200,fine,t_Sonotrode_8x18_185\WObj:=wobj_Toyota_817_B;

WaitRob\Inpos;

MoveL [[0.001,231.257,-153.191],[0,-0.707106781,0.707106781,0],[-1,-1,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v200,z20,t_Sonotrode_8x18_185\WObj:=wobj_Toyota_817_B;

MoveAbsJ [[0,10,50,0,-60,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v2000,z200,t_Connecting_flange\WObj:=wobj_World;
ENDWHILE

2

I recommend you to play around with different z-parameters in your Move instructions. They seem to range from fine to 200, and the travel distance of your manipulator doesn’t look to be that large.

Also, what purpose does WaitRob\Inpos do in your case, when it’s directly after a move instruction with a fine z-parameter?

3

Thanks Maxim, changing the zones helped. I agree there is no purpose for WaitRob with fine parameter, it’s just code I was given to