Using stopl results in inconsistent stopping positions

Technical Questions
1

I’m generating a script from CAD to dispense using movep commands and using a stopl at the end. I calculate the correct deceleration value and blend radius for the last point to stop the robot at my desired location. This works perfectly with straight segments that don’t have a change in orientation. However, any change in orientation during the last couple of points greatly increases the stopping distance. The larger the orientation delta, the further away the robot gets from my desired stopping location.

How does stopl account for the orientation change? Is there a better way to stop at a desired location after using movep?

Thanks in advance

Jeff

2

When I did an dispensing application a couple years back I found that stopj sometimes gives better results than stopl. Don’t ask me why or how but that is what worked back then through trial and error.