About KangZhihao

I use kinematics move command to achieve position control. I can see there is a ML_KinAbort command to stop the movement. But in ML_KinAbort, there is no deceleration that can be set, so kinematics stops by the last position command deceleration.  In some situation, I want to stop the kinematics in faster deceleration, not by the last position command deceleration setting. I can see the ML_AxsAbort provides the deceleration setting, so in single axis motion control, it can be stopped in fast deceleration. When I use ML_AxsAbort in kinematics, it will cause the error because the axis is in kinematics group state. I don't want to cause this kind of erro in motion control. So how can I achieve the fast stop with deceleration setting in kinematics? ... View more

Because I want to use C++ program to get and set kinmatics parameter. I can see it provides class IKinCfg in i_kin_cfg.h file. In this class, there are functions to edit or get the kinmatics parameter,like below: But when I include this i_kin_cfg.h file to my program, compile error shows that file i_mcs.h has an error which i_kin_cfg.h includes. And in i_mcs.h file, it includes a file named "motion/math/defines/axis_trafo_defs.h" which never exists in SDK include folder or anywhere else. Below is the .h file provided by sample sdk:   So how to fix this problem? ... View more

Question 1: I use 2ms scheduler to scan my program in virtual core. I have recorded the program scan cost time in scheduler, somestimes when the code is too many, it will cost more than 2 ms to complete the whole program code scan. But I didn't see any watch dog error or information about scheduler cycle exceeded. Is there something wrong setting with my virtual core?Below is my scheduler task setting and my recorded cost time in program:   Question 2: With SDK debugging , because I use motion control related function,I have to install my snap in core. I wonder if there is any method to monitor the C++ internal variable(such as int/ double / queue) in my program, besides trace log in core.  That will improve the debugging effiency.   Thanks in advanced! ... View more