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ML_KinPolyTransP and ST_CONTINUOUS_SLOPE

ML_KinPolyTransP and ST_CONTINUOUS_SLOPE

bostroemc
Occasional Contributor

I am using KinInterface with arKinCtrl_gb[].CoordMode.SlopeType = MB_KIN_CONT_MOTION.ST_CONTINUOUS_SLOPE and ML_KinPolyTransP to traverse a space curve at constant speed.  If I issue the motion commands in quick succession (for example, all within a single scan), this works beautifully:

Screenshot 2023-05-11 050304-1.png

However, if I pause for some time between commands, I see a break in the continuous motion.  For example, if I pause for 50 ms between issuing motion commands 1-6 and motion commands 7-12, the motion pauses at the end of move 6 as shown below.  Note that motion command 1 is still active when then final six motion commands are issued.  (See also attached video.)

Screenshot 2023-05-11 050538-2.png

The associated code looks like this:

move_command_staging.png

Is this there any way to avoid this behavior?  In my actual use case I would like to traverse a very long space curve at constant speed and not all target points are immediately available (i.e. at start). 

Sample ctrlX PLC project attached.

2 REPLIES 2

CodeShepherd
Community Moderator
Community Moderator

The thing is that our kernel uses several commands for blending and and then prepares them to a moveable curve. If there are less commands available as expected a stop will be inserted, that will not be overwritten even if more/new commands are coming in.

To tell the kernel to not insert that stop the command option ML_KinContour is needed. Be aware that if not enough commands are available in the buffer at the end of a movement and option is still active an error will occur.

Procedure would be as follows:

  1. switch on ML_KinContour (and as before ML_KinPolyTransP)
  2. insert first commands
  3. movement is started immediately
  4. insert at some point further commands
  5. insert last commands of your contour
  6. switch off ML_KinContour (and as before ML_KinPolyTransP)
  7. commands will all be finished and movement ends

There is also the possibility to delay the start of the movement by inserting a number of must have commands available via the input "PrepCmds".

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