It looks like the Kinematics interface behaves differently to axis interface with ctrlXCore RM21.11 (I tested with virtual Control)
With axis inteface it is not necessary to wait for 1 PLC cycle before checking the Cmde done.
Instead with Kinematics interface we must wait for 1 plc cycle before checking the CmdeDone. (on MLC it is the same because the axis interface is called in thePLC program) . I was wondering that ctlX gave benefits on this field.
Is it normal ?
Thank you for you help.
Solved! Go to Solution.
both AxisInterface and KinematicInterface are on the CORE implemented with the help of properties. This allows the checking of CmdDone in the same PLC cycle of a move command. This is a new feature compared with the MLC implementation.
With sending a new move command, the CmdDone Flag is cleared (in the property of the move command).
When you encounter a different behaviour, we need more details to check it.