Hello,
i am trying to make 2 Linear movements consisting of 3 points in total using TriggLIOs.
The 1st movement is p10-p20 and the 2nd movement is p20 to p30.
Instead of stopping at p20 I would like to use a zone of 100 (z100).
This works fine using the MoveL instruction.
Unfortunately it doesn’t work using the TriggLIOs instruction.
Does anyone have an Idea why?
Here is some part of the code:
PROC procSpray( robtarget pStart, robtarget pTarget{*}, speeddata vSpray, zonedata zSpray, num nPosOffs, num nDist, num nLag, INOUT tooldata tSpray \ INOUT wobjdata wobjSpray)
VAR triggios trigSpray{2};
!SPRAY ON
trigSpray{1}.used:=TRUE;
trigSpray{1}.distance:=nPosOffs - nDist;
trigSpray{1}.start:=TRUE;
trigSpray{1}.signalname:=“do_Spray”;
trigSpray{1}.equiplag:=0;
trigSpray{1}.setvalue:=1;
!SPRAY OFF
trigSpray{2}.used:=TRUE;
trigSpray{2}.distance:=0;
trigSpray{2}.start:=FALSE;
trigSpray{2}.signalname:=“do_Spray”;
trigSpray{2}.equiplag:=-nLag;
trigSpray{2}.setvalue:=0;
…
TriggLIOs pTarget{1}, vSpray, \TriggData1:=trigSpray, zSpray, tSpray \wobj:=wobjSpray;
ENDPROC
MAIN (doesn’t work using z100, still stops at p20; v_tcp=0):
procSpray p10_90x300x90E_Flaeche, [p20_90x300x90E_Flaeche], vSpray, z100, nPosOffs, nDist, 0, tSprayActive \wobjSpray:=wobjForm;
procSpray p20_90x300x90E_Flaeche, [p30_90x300x90E_Flaeche], vSpray, zSpray, 0, 0, nLag, tSprayActive \wobjSpray:=wobjForm;