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05-11-2023 03:52 PM - edited 05-11-2023 04:00 PM
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:
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.)
The associated code looks like this:
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.
Solved! Go to Solution.
05-12-2023 07:49 AM - edited 05-12-2023 07:51 AM
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:
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".
06-05-2024 02:02 AM