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maxielse · ‎02-09-2022

Hello, there is nothing wrong with your code. Currently there is a feature missing to get the command option PolyTrans working how it is supposed to do. When you switch on PolyTrans and it gets added to the following movement commands it searches in the preparation for the same entry in the following command. Since the first command gets prepared too fast for you to command the next command it never finds the next command to blend over. This will get solved in the future with a replaning feature. For now i can give you a workaround (in python): … … # signal_Id : free choice from 00 – 99 # auto_reset = True -> Signal gets reseted to false automatically motion.kin_cmd_wait_for_signal(kin, signal_id = 99, auto_reset=True) motion.kin_cmd_wait_prepare( kin,buffered=True) motion.kin_cmd_opt_poly_trans_p( kin, eps=100.0) … … #Kin-commands motion.kin_cmd_move_lin_abs( kin, ( 227.2658 ,88.2926 ,Zdown)) … … # url to set the signal over the Data Layer perhaps possible via set_signal uri = 'motion/state/functions/somo/signals/99' datalayer.write(uri, True) … … This stops the preparation of the motion commands and thus can correctly plan the PolyTrans. The above logic also works with the PLC. The function blocks should be in the misc folder. Hint: In most cases, the "PolyTrans" function should be used in combination with the "ContMotion" command option so that a continuous velocity profile is generated without braking to a standstill at command transitions. Best regards

maxielse · ‎08-25-2020

As of now you will need the Motion In App Cartesian for blending functionality. Doesnt matter if block or continuous slope. But better check it again with your sales contact before ordering.

maxielse · ‎08-18-2020

Do the python commands just post a motion command to the buffer then return? Or do they hold up execution until the move is done? The python commands just post a motion command to the buffer. If you need a functionality to make sure the command got executed, you must do it by your own. The simple solution is to let the python interpreter sleep like in the example above. The better solution is to save the command ID when posting the command and then poll for the command state DONE. (and obviously sleep between the polling cycles) However, please confirm that the processor task handling system is ok with this. It is no problem to poll the state of the command like every 10ms. Does the Python runtime execute in a Freewheeling or low priority task? Python runs in its own process.

maxielse · ‎08-17-2020

For applications like that you can use our python app, which got initially released with the 20.07 release. The Blockly app uses this python app. The official name is rexroth-python. For your use case you could command something like that in python: MotionLib.kinCmdMoveLinAbs("Robot", (100.0, -200.0, 400.0) ) time.sleep(0.50) MotionLib.kinCmdJogIncr("Robot", (0.5,0.5), 5.0) time.sleep(1.00) Or you could even write a function in python which checks for the state of the command and just waits till its done or reached its point of destination.

maxielse · ‎08-14-2020

ctrlX Motion currently only supports blending block slope where two moves are executed simultaneously. The equivalent for blending continuous slope with a spline is planned for 2021.

About maxielse

Re: New robot blending functions Poly C2 and Continuos blending do not work

Re: Kinematic Blending

Re: Sequential Motion Progrogramming

Re: Sequential Motion Progrogramming

Re: Kinematic Blending