Hi Eric
I was dragging the following commands from the note.txt to the IDE terminal:
#4,5,6,13,14j/
&2Q78=1
&2b2r
The kinFlag is a flag set in the motion program as soon as it is called:
open prog 2
kinFlag = 1
.
.
.
close
One interesting thing I found while trying to debug the problem was that when changing the values of jogTa and jogTs on the motors of the CS there was no delay.
The first image shows the movement when using JogTa = 6000 and JogTs = 2000, you can see that the time between enabling the motor and starting the motion program is approximately 8 seconds.
On the second test, I changed the JogTa and JogTs of all motors to 0 and the delay was gone.
Do you have any idea why? As I see it, Ta and Ts are associated with the movement time, do they have any special relation with the motion program being called?