Wait not working when woven after Digital Output

[Nicholas Ziglio]

Hi,

I have an issue in the attached "Wait Test" file where the wait delay after changing the tool state won't occur.
Instead it immediately skips to the linear movement command in the weave list.

I might be using the weave component incorrectly but I can't seem to figure out how to get the delay to occur after the digital output command.

(Using the latest community release of KUKA PRC and latest public Rhino and GH releases)

[Johannes @ Robots in Architecture]

Hello,

For me, the output looks like that:

Code Select Expand

PTP {X 1328, Y 24, Z 968, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {X 1328, Y 24, Z 968, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS
WAIT SEC 2
$OUT[1]=FALSE
WAIT SEC 2
LIN {X 1165, Y 24, Z 968, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS
WAIT SEC 2
$OUT[1]=FALSE
WAIT SEC 2
LIN {X 1328, Y 24, Z 968, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS
PTP {A1 5, A2 -90, A3 100, A4 5, A5 10, A6 -5, E1 0, E2 0, E3 0, E4 0} C_PTP
Note that the community version is not updated as often, so things might have been fixed in the past year.
How does your output look, and how would you like it to be?

Best,
Johannes

[Nicholas Ziglio]

Thank you for the quick reply.
Yes the code seems to be correct, however the simulation doesn't display the delay.
Or rather it looks like it moves the 2s delay from after the digital output to before it adding it to the other 2s delay.
So instead of: move > wait 2s > tool change > wait 2s > move.
It does: move > wait 4s > tool change > move.
Here is a video of it running in the attachments.

[Johannes @ Robots in Architecture]

Hello Nicholas,

The tool change is part of a movement, so a wait command does not show that change - if that makes sense, it's a problem with the software architecture.
I guess the easiest way would be to duplicate the LIN movement after the tool change (and before the second wait).

Best,
Johannes