Startup

Before Cartesian interpolation is allowed (JOG_CART or linear/circular interpolation), the axes must be initially aligned by means of PTP interpolation with specification of the target pose in a Cartesian coordinate system. Take this into account in terms of the application. The PTP movement may be paused but must not be stopped by means of program stop. Only a few (< 10) assigning instructions (e.g. SET_MOTIONSET, SET_BOOLVAR) may precede the PTP command in the SRL program and no wait instructions (e.g. WAIT_TIME) or other motion commands. Otherwise, there will be a jump in the setpoints for the axes and, as a consequence, usually a lag error.

A PTP movement must also be executed completely again initially after each jog operation by means of JOG_AXIS or JOG_JOINT.

However, after an interruption of the program execution, for example due to an emergency stop, it is possible to continue directly in the program by means of Repositioning (BackToPath).