I know that RAPID will start processing the following code before finishing moving the robot. That is why ABB designed triggdata. But why don’t we just write the same robot-moving command twice? That should ensure that the robot finishes its movement before processing the following code.
First of all, my english is not my best so I don’t know if I’ve understood you correctly…
If you want to wait the movement to be finished just before making anything else…
You can use:
WaitTime 0;
As far as I know any attempt to modify a signal (DI, DO…) will also stop it.
Also you can place a FINE at the movement just to make it to finish the movement before making something else…
But anyway, I’ve not understood the point with triggdata… As I understand it it is used precisely to be able to activate an output just at a certain distance from a specified point… something that in the other hand would be impossible (I don’t know if placing two movements to the same place and the first one with a bigger zone would work (I suppose that) but you’ll have more control with triggdata)…
Hope this helps…
Hi,
Use a stop point (zone = fine) if you don’t want the following instructions to be executed before the robot has finished motion.