About giustola69

Hello, Yes you're right some command are not blended because it is a pick & place cycle with 4 points: uppick,pick,upplace,place and inthe pick and place command the blending is set off. However it seems that the beavior using the "normal" blend function and "poly" function is different since the cycle and the commands timing in my program is exactly the same in both cases, but with the "normal" blend function the blending is working with the "poly" not. Actually the point commands are issued with 1-2 plc cycle delay. Should I use the function ML_Countor together with the Poly blending or it is essential that the 2 blending command should be send to the system exactly in the same plc cycle ? Many Thanks Giuseppe ... View more

Hello, I did some more test and I found that maybe the problem could be related with the ML_KinEnable function: When I set this function in my plc code it seem that the kinematik is correctly grouped and put in standby but as you can see in the screeshot the TCP feedback position are not updated correctly and if I try to send a position command both from PLC ( ML_KinMoveLinAbs) or from the commissioning tool page I get the error above. If I you the "Group" pushbutton on the commissionig page to enabe the kinematic all work properly. Maybe I'm missing somethin in my code to enable correctly the kinametic but the ML_KinEnable function seem to be executed rightly.     Please help me to understand what I'm doing wrong in my plc code to properly enable the kinematic Many Thanks Giuseppe    This is my fb code: FUNCTION_BLOCK FB_KinGroup VAR_INPUT I_bKinGroup: BOOL; I_strKinName: STRING; END_VAR VAR_OUTPUT O_bKinGroupDone: BOOL; O_CmdResult: ML_oCmdResult; END_VAR VAR iKinState: INT; stKinEnable: ML_KinEnableData; stKinDisable: ML_KinDisableData; oCmdResult: ML_oCmdResult; ioGetCmdState: ML_GetCmdStateData; bGroupDone: BOOL; END_VAR   CASE iKinState OF 0: ;//IDLE IDLE IDLE DO NOT USE IF (I_bKinGroup AND NOT bGroupDone) THEN iKinState := 1; END_IF IF bGroupDone AND NOT I_bKinGroup THEN iKinState := 20; END_IF 1: ;//INIT bGroupDone:=FALSE; O_bKinGroupDone:=FALSE; iKinState := 10; 10: //ML_KinEnable stKinEnable.In.KinName := I_strKinName; stKinEnable.In.Source := 'Kin Resetfunction '; IF ML_KinEnable(Data:= stKinEnable) THEN iKinState := 15; ioGetCmdState.In.CmdID := stKinEnable.Out.CmdID; ioGetCmdState.In.ObjName:= stKinEnable.In.KinName; ELSE iKinState := 999; END_IF oCmdResult := stKinEnable.Out; 15: //Check Command State ML_GetCmdState(Data:= ioGetCmdState); IF ioGetCmdState.Out.State='DONE' THEN bGroupDone:=TRUE; O_bKinGroupDone:=TRUE; END_IF iKinState := 0; 20: //ML_KinDisable stKinDisable.In.KinName := I_strKinName; stKinDisable.In.Source := 'Kin Resetfunction '; IF ML_KinDisable(Data:= stKinDisable) THEN iKinState := 25; ioGetCmdState.In.CmdID := stKinDisable.Out.CmdID; ioGetCmdState.In.ObjName:= stKinDisable.In.KinName; ELSE iKinState := 999; END_IF O_CmdResult := stKinDisable.Out; 25: //Check Command State ML_GetCmdState(Data:= ioGetCmdState); IF ioGetCmdState.Out.State='DONE' THEN bGroupDone:=FALSE; O_bKinGroupDone:=FALSE; END_IF iKinState := 0; 999: bGroupDone:=FALSE; O_bKinGroupDone:=FALSE; IF NOT I_bKinGroup THEN iKinState :=0; O_CmdResult.CmdID:=0; O_CmdResult.Error:=0; O_CmdResult.ErrorID:=0; END_IF END_CASE   ... View more