[AluMill]

Hi Jeremy,

Sorry for the late answer.
The new driver does not fixes the problem, same behavior.

I have made a workaround that works for me:
——我删除d the synchronization between robot and rail
- If I want to move the rail, I do RunCodeCustom with the X-coordinate of the rail but I have another problem with that, see code:

Code:

def MoveRail(X):
if TEST:
KL4000.MoveJ([X])
else:
KR120.RunCodeCustom(X, INSTRUCTION_CALL_PROGRAM) # Not working, X is not int?)
KR120.RunCodeCustom('700', INSTRUCTION_CALL_PROGRAM) # working fine!
KL4000.setJoints([X]) #manually set position of the rail in RDK

Second problem: I can not read the position of the rail, that's why I manual set the joints of the rail.
Is it possible to get feedback from the RunCodeCustom?