I’m not sure I understood the problem correctly. Do you use the command parameter AsyncExecution ? If yes, then you must use "EXECUTE_TEMPLATE_POS_TO_POS", because if you start a new movement while the robot is still moving, it can happen, that he path is calculated from a wrong start position. In general, if you want to manipulate generated pointlists, you can do this in the UserManipulateGeneratedList method - this method is called before the point list will be executed... If you use a Stäubli robot, there is something special: If the last point in your pointlist is set as a blended move, the robot does not move to end position and it stops at blending distance before the end position. That’s why we have included a parameter in the stäubli peripheral that you can activate : LastPointInListNonBlended. If this parameter is activated, the move-mode of the last point in the list will be set to non blended automatically .
... View more
