I had a play with the Kinematic blending and Absolute moves ML_KinMoveLinAbs. The blending does not seem to have as many options as the MLC Robot control V2.
In particular, I can't see how to do the equivalent of "ST_CONTINUOUS_SLOPE" from MLC Function Block MC_MoveLinearAbsolute. This is where a spline is used to blend between two motions. Is this mode possible at the moment on CtrlX? If not, is this planned for the future?
I have a customer who uses this MLC mode with small moves and small blending radius (0.01mm) to move their machine along a curved path.
With CtrlX, If I put small radius values into the D1 and D1 parameters of ML_KinMoveLinAbs on CtrlX and turn on the blending, the motion just stops between moves, even if the moves are in a straight line. I have to make the D1 and D1 quite large (10mm) to get the blending to ride through without slowing down too much. See attached document. I assume this behaviour is similar to the MLC ST_BLOCK_SLOPE mode.
Solved! Go to Solution.