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Smart Function Kit Velocity and Acceleration units Move vs. Chained Move

bclapperton
Established Member

Smart Function Kit Velocity and Acceleration units Move vs. Chained Move

Today I am playing with a three axis smart function kit to display for a trade show. 

The SFC interface only has graphical block programming.

I found that the "Move" blocks are programmed in mm/s and mm/s2 for velocity and acceleration.

Then I tried the "Chained move" block. I found that these are programmed in mm/min and m/s2 

So, completely different units for pretty much the same functionality.

Is this a buit in issue with the motion App? Or does the smart function kit have some issues with it's fixed setup?

 

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2 REPLIES 2
bclapperton
Established Member

Re: Smart Function Kit Velocity and Acceleration units Move vs. Chained Move

sfk4hblock.set_variable(sfk4hblock.variable.RAPIDVELOCITY_MMPM,
    60 * sfk4hblock.get_variable(sfk4hblock.variable.RAPIDVELOCITY))
sfk4hblock.move_kinematic_with_position(MoveType.ABSOLUTE,
    sfk4hblock.get_teach_point(sfk4hblock.teachpoint.DOWNOUT),
    sfk4hblock.get_variable(sfk4hblock.variable.RAPIDVELOCITY),
    sfk4hblock.get_variable(sfk4hblock.variable.ACCEL))
for index in range(4😞
    
    def on_robot_chained_move_absolute():
        
        def on_robot_chained_move_absolute2():
            sfk4hblock.move_kinematic_with_position(MoveType.ABSOLUTE,
                sfk4hblock.get_teach_point(sfk4hblock.teachpoint.DOWNIN),
                sfk4hblock.get_variable(sfk4hblock.variable.RAPIDVELOCITY),
                sfk4hblock.get_variable(sfk4hblock.variable.ACCEL))
        motion.robot.chained_move(MoveType.ABSOLUTE,
            sfk4hblock.get_teach_point(sfk4hblock.teachpoint.UPIN),
            100,
            100,
            sfk4hblock.get_variable(sfk4hblock.variable.RAPIDVELOCITY_MMPM),
            1,
            on_robot_chained_move_absolute2)
        
    motion.robot.chained_move(MoveType.ABSOLUTE,
        sfk4hblock.get_teach_point(sfk4hblock.teachpoint.UPOUT),
        20,
        20,
        sfk4hblock.get_variable(sfk4hblock.variable.RAPIDVELOCITY_MMPM),
        1,
        on_robot_chained_move_absolute)
    
    sfk4hblock.move_kinematic_with_position(MoveType.ABSOLUTE,
        sfk4hblock.get_teach_point(sfk4hblock.teachpoint.UPIN),
        sfk4hblock.get_variable(sfk4hblock.variable.RAPIDVELOCITY),
        sfk4hblock.get_variable(sfk4hblock.variable.ACCEL))
    sfk4hblock.move_kinematic_with_position(MoveType.ABSOLUTE,
        sfk4hblock.get_teach_point(sfk4hblock.teachpoint.UPOUT),
        sfk4hblock.get_variable(sfk4hblock.variable.RAPIDVELOCITY),
        sfk4hblock.get_variable(sfk4hblock.variable.ACCEL))
    sfk4hblock.move_kinematic_with_position(MoveType.ABSOLUTE,
        sfk4hblock.get_teach_point(sfk4hblock.teachpoint.DOWNOUT),
        sfk4hblock.get_variable(sfk4hblock.variable.RAPIDVELOCITY),
        sfk4hblock.get_variable(sfk4hblock.variable.ACCEL))
    loops.pause(1000)
thorstenS
New Poster

Re: Smart Function Kit Velocity and Acceleration units Move vs. Chained Move

Hello,

this is a issue in the Smart Function Kit app. The SFK uses units in a fixed setup. Most of the programming blocks, like the move cmd, use these units and display them directly via text in the block.  Unfortunatelly some blocks have not been adopted. These use the units defined in the ctrlX. You can identify them, because they do not have units displayed as text in the block.

At the moment we are working on two improvements for the units in the Smart Function Kit.

  • Consistent units in all functionalities and blocks (short therm fix)
  • More flexibility with units - e.g. SFK units can be changed by changing the units in the ctrlX (long therm)
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