Hello, Sorry but I did not understand your last comment. It seems to me that the axis are groupped but is the blend the is not runnign as it shoul be. I saw that not all the function are already available on the plcOpen library but the ones already in should be enough to move a robot but not to blend the path ( not working ) Is that right ? Anoter question : If I use the CX_Motion library will the blend error still be present ? Please if possible let me know when the development will solve the blend problem Many thanks Giuseppe
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