Interaction Between Method Execute and Other Robotic Features
When the method IF_RobotMotion.Execute(...) is used, the command processing is on hold, which provides to use a StartOffset equal to 0.0 on a call of the method IF_RobotMotion.MoveSync(…). That is, a synchronous movement can be started exactly at the start of a connected path.
When an asynchronous movement is active, a synchronous or an asynchronous movement cannot be issued until the asynchronous movement is finished. This is still the case, even when the method IF_RobotMotion.Execute(...) is called with i_xValue equal to FALSE.
Furthermore, an asynchronous movement with StartSegmentId := 0 and StartOffset := 0.0 starts immediately, even if the method IF_RobotMotion.Execute(...) was called with i_xValue equal to FALSE.
A call of the method IF_RobotMotion.Execute(…) only affects the connected path and is not effective for IF_RobotMotion.MoveSync(…) and IF_RobotMotion.MoveAsync(…).
It is not possible to jog along the connected path when it was sent after the method IF_RobotMotion.Execute(...) was called with i_xValue equal to FALSE and not launched with a call of the method with i_xValue equal to TRUE, yet.
If the complete path was not launched, the commands IF_RobotJogging.AdvanceToNextConnectedPath(…) and IF_RobotJogging.Start (path) return the diagnostic message NoConnectedPathAvailable.
If the connected path was active and extended by calling the method IF_RobotMotion.Execute(...) with i_xValue equal to FALSE, the jogging stops at the end of the active part until the extension is activated by a call of the method with i_xValue equal to TRUE.
If you try to jog further than the active part, the method IF_RobotJogging.Start(…) returns the diagnostic message Command refused. Current position on path = end position of current path.
