Batteryless sensor nodes, powered solely by energy harvesting, are a promising alternative to battery-powered sensor nodes. However, energy harvesting rates being very low, unreliable, and time-varying, nodes cannot sustain a continuous operation, making them intermittently powered. As a result, these nodes incur unpredictable wakeup times due to continuously varying off-times. To perform tasks like distributed sensing, time synchronization, and communication for intermittently powered nodes, timely execution and robust coordination is vital. To achieve robust coordination, nodes must guarantee to be ON at a coordinated target time regardless of harvesting variations. To ensure robust coordination of on-times, we propose PAIL, a novel hardware-software approach where the hardware component enforces a constant off-time, with small variations. The software component dynamically corrects for those variations. We fabricated a PAIL sensor node and validated its ability to discover neighboring nodes. Using extensive simulations calibrated from experimental measurements, we observe that PAIL maintains nearly 99.3% coordination at steady state. In the context of pairwise communication, we show that leveraging PAIL coordination, nodes improve packet tail latency by 99%.