Consecutive MoveL commands

Technical Questions
1

Dear forum,

As a part of our tests, we need to be able to Move the robot as fast as 100 ms intervals.

My scenario:

  1. I send a “MoveL” command so that the TCP touches our DUT.
  2. At the same time I monitor the “runtime_state” via Rtde. When this value turns to 1, I know the robot has stopped. Value of 2 means it is moving.
  3. Then I have to wait at least 160 ms until I can send the next “MoveL” command to remove the TCP from our DUT. Our requirements tells us we should be able to do this as fast as 100 ms.

Problem: If I send the second “MoveL” command in less than 160 ms after robot has stopped, It will twist into a Random new position which completely messes up our test (can potentially be dangerous as well).

Is this a known limitation ? is there a fix for it ?

Regards,

Ali