Hi,

I managed to pinpoint the exact moment and cause of unplanned stops. It was hidden in plain sight:

`LIN {X 82.582,Y 97.199} C_DIS`

LIN {X 86.222,Y 93.781} C_DIS

LIN {X 90.261,Y 90.846} C_DIS

LIN {X 94.636,Y 88.441} C_DIS

LIN {X 99.279,Y 86.603} C_DIS

LIN {X 104.115,Y 85.361} C_DIS

LIN {X 109.068,Y 84.735} C_DIS

LIN {X 114.061} C_DIS

LIN {X 119.015,Y 85.361} C_DIS

LIN {X 123.851,Y 86.603} C_DIS

LIN {X 128.493,Y 88.441} C_DIS

LIN {X 132.869,Y 90.846} C_DIS

LIN {X 136.908,Y 93.781} C_DIS

LIN {X 140.548,Y 97.199} C_DIS

LIN {X 143.731,Y 101.046} C_DIS

LIN {X 146.406,Y 105.262} C_DIS

LIN {X 148.532,Y 109.78} C_DIS

LIN {X 150.075,Y 114.528} C_DIS

LIN {X 151.01,Y 119.433} C_DIS

slimak=21

;ommit

$VEL.CP=0.03

$OUT_C[1]=TRUE

LIN {X 150.136, Y 124.416, Z 44.8, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {X 149.832,Y 129.25} C_DIS

LIN {X 148.925,Y 134.008} C_DIS

LIN {X 147.428,Y 138.615} C_DIS

LIN {X 145.365,Y 142.998} C_DIS

LIN {X 142.77,Y 147.088} C_DIS

LIN {X 139.682,Y 150.82} C_DIS

LIN {X 136.151,Y 154.136} C_DIS

LIN {X 132.233,Y 156.983} C_DIS

LIN {X 127.988,Y 159.316} C_DIS

LIN {X 123.484,Y 161.1} C_DIS

LIN {X 118.793,Y 162.304} C_DIS

LIN {X 113.987,Y 162.911} C_DIS

LIN {X 109.143} C_DIS

The "slimak=21" is a variable sent to extruder via ethernetIP. This causes the robot to stop for a fraction of time. What I would need is a way to send this numeric value as you can send digital output with parameter "continous". Is it possible?

By the way, I had solved the problem of sending single value through ethernetIP by using "KRL command" component from KukaPRC. I could not find any other component that could send values (the same way you have suggested with $Advance variable).

Kind regards,

Michael.