In the Rockwell PosTable, the first motion always come to a stop (no blending).
QA is forced to 0 in the UpdateIndex subroutine if CalcFirstMove variable isTrue.
Hence, the next positions are not loaded in anticipation.
QA is normally increased in the UpdateLoadIndex subroutine, but it is missing a big section of code.
But this section is a lot similar compared to what is already done in the UpdateIndex subroutine.
So, we either:
add the missing code section
remove the CalcFirstMove from the last IF statement of the UpdateIndex subroutine
In the Rockwell PosTable, the first motion always come to a stop (no blending).
QAis forced to0in theUpdateIndexsubroutine ifCalcFirstMovevariable isTrue. Hence, the next positions are not loaded in anticipation.QAis normally increased in theUpdateLoadIndexsubroutine, but it is missing a big section of code. But this section is a lot similar compared to what is already done in theUpdateIndexsubroutine.So, we either:
CalcFirstMovefrom the lastIFstatement of theUpdateIndexsubroutine