I am using KinInterface with arKinCtrl_gb[].CoordMode.SlopeType = MB_KIN_CONT_MOTION.ST_CONTINUOUS_SLOPE and ML_KinPolyTransP to traverse a space curve at constant speed. If I issue the motion commands in quick succession (for example, all within a single scan), this works beautifully: However, if I pause for some time between commands, I see a break in the continuous motion. For example, if I pause for 50 ms between issuing motion commands 1-6 and motion commands 7-12, the motion pauses at the end of move 6 as shown below. Note that motion command 1 is still active when then final six motion commands are issued. (See also attached video.) The associated code looks like this: Is this there any way to avoid this behavior? In my actual use case I would like to traverse a very long space curve at constant speed and not all target points are immediately available (i.e. at start). Sample ctrlX PLC project attached.
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