Circular interpolation

[ddenis]

Hi guys,

I was wondering wether I could make the robot move smoothly during circular interpolation? I used two different approaches but haven't succeeded. Firstly, I used c1move/c2move instructions, but the movement consisted of 4 increments and the arm accelerated and decelerated during each one. Secondly, I tried the approach, suggested by Magruedus:

You can use AS to draw a circle. For example:

FOR angle = 0 TO 360 STEP 5
LMOVE p1+TRANS(radius*COS(angle),radius*SIN(angle))
END

p1 is the centre of the circle, radius is radius

the step 5 causes an increment of 5 degrees, ie. you will get 72 points on your circle.... increase or decrease it as desired.

But it works all the same. Has anyone overcome this problem?

PS: the arm is FS10E and the controller D40

[solega]

Hi ddenis

you need to set the continious path on.


in the top write: CP ON

This should be working.

[ddenis]

Hi ddenis

you need to set the continious path on.


in the top write: CP ON

This should be working.

Hello solega,

Actually I did this but the result was the same. I found in the manual that CP works only in linear and joint interpolated motions and doesn't for the circular interpolation. But if this is the case I don't understand what's the problem with the second approach?

[solega]

Hi ddenis
     
I has used many times in the past circular interpolation and I never faced such problem.

CP controls also the acceleration and deccelaration during steps and if it's off then in the motion
path stops occurs.

Are you energizing outputs signals during motion path?

[ddenis]

Hi ddenis
     
I has used many times in the past circular interpolation and I never faced such problem.

CP controls also the acceleration and deccelaration during steps and if it's off then in the motion
path stops occurs.

Are you energizing outputs signals during motion path?

I tried to set the CP SWITCH in ON and OFF positions, while performing movements only, without any I/O signals, but the result was the same