[tharisata]

Hi,

I'm currently doing ONLINE programming with a KUKA robot using the KRC4 Controller.

I'm using it alongside a Vicra Polaris Camera System and I've configured the robot to be able to track a tool in my camera space.

Unfortunately, in online programming, the instructions are sent one at a time it seems:

Ready
SETROUNDING 100
Working...
Ready
MOVJ -0.320295 -74.276905 82.523168 -0.000000 81.753737 -0.320295 1412.637000 7.897000 1322.085000 180.000000 0.000000 180.000000
Working...
Ready
MOVJ -0.281731 -74.982046 83.419173 -0.000000 81.562873 -0.281731 1402.637000 6.897000 1322.085000 180.000000 -0.000000 180.000000
Working...
Ready

This causes a great problem, as this means the robot moves, then stops then moves again even when I set rounding/zoneData to ensure that once it gets close enough to a point it can go to the next one.

Is there a way to adapt the post processor etc. to ensure that more than one instruction is sent at a time? I.e. I want both MOVJ to be sent in one go so the movement can be smooth.

Would appreciate any help on this, thanks.