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SOLVED

limit of commandos used for a contour

limit of commandos used for a contour

SpoonMan
Member

Hi CodeSheperd,

Is there a limit to the number of commands used in a contour? I need to issue over 2000 moves from a custom points table...

3 REPLIES 3

CodeShepherd
Community Moderator
Community Moderator

Moved to own topic from "ML_KinPolyTransP and ST_CONTINUOUS_SLOPE".

Which version are you using? In general the available memory is the limit but from version 2.6 there is a setting "motion/kin/<name of kinematik>/cfg/prep-limits/max-cmds-in-buffer" capable of limiting, preventing the system from crashing when out of memory. But 2000 commands are no problem at all.

I am using 2.6. I will try to adjust this value and see what happens.

So far I am able to issue 3000 moves to two separate kinematics using the contour command. I start the contour command in one step, issue the moves in another, then start the moves in a third step by setting the contour command = false. 

 

SpoonMan_0-1729557062185.png

 

SpoonMan_1-1729557062198.png

 

 

There were 3 issues that took a while to figure out. 

 

1: You need to increase the move buffer:

SpoonMan_2-1729557062201.png

 

 

2: If you issue the commands in a FOR LOOP, my PLC task would "time out" because it is trying to crunch 3000 commands before my 2ms motion task would complete. I did this because i thought the commands had to be executed in the same scan... this is not the way to do this...So instead i just stepped through commands one PLC scan at a time, then started motion with the Contour command = False. 

 

3: During the execution of the 3000 moves, the axes would stop at each individual target position... which is not what I wanted. What i really wanted is to have continuous velocity throughout the move profile. I used the ContinuousMotion command and even the KinPolyTrans command but i still had stopping at each point... It turns out that you need to set the "reserve accel and jerk" to a non zero value in order for the motion kernel to be able to stitch the moves together without stopping. After I changed them to the following values, i achieved smooth continuous velocity in my motion profile. 

 

Unfortunately you don't see the 'reserve acc/jerk" in the kinematic properties in the CtrlX Motion App webpage, you need to set these values in the datalayer... Not user friendly in my opinion. 

 

SpoonMan_3-1729557062202.png

 

 

Having said, the CtrlX Motion Documentation DOES mention this in a few places, its just not very obvious what the impact of these parameters are. It would be best to have them as a part of the CtrlX Motion webpage with all the other limit values that you normally find (like the move buffer, velocity limits, etc).

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