how to setup lookahead

[yizhou]

I define lookahead as following:

command "&1 delete lookahead"

command "&1 #1->I"

command "&1 #2->I"

command "&1 #3->I"

command "&1 #4->I"

command "&1 #5->I"

command "&1 #6->I"

COMMAND"&1 Define Lookahead 50, 10"

I5150=1

COMMAND"&1b1042r"

 

motion program:

 

OPEN PROG 1042 CLEAR

ABS

FRAX(X,Y,Z)

LINEAR

F(P4050)

TA(P4051)

X(P4041)Y(P4042)Z(P4043)A(P4044)B(P4045)C(P4046)

M1014==1

DWELL10

CLOSE

 

I-Variable：

I5113=10

I5120=25

Ixx16=500

Ixx17=2

 

But it doesn't run with "run time error" in coordinate 1. why?

[Sina.Sattari]

Please post your forward and inverse kinematic routines for CS1.

Also, post the I5150 value.

[yizhou]

I have already post my forward and inverse kinematic routines for cs1, and set up I5150=1. but the problem still exists.

Please post your forward and inverse kinematic routines for CS1.

Also, post the I5150 value.

[Omron Forums Support]

Where did you post them?