Hi All,
I want to use my computer to continuously move the robot. The mechanism is: both sides are doing a synchronous communication, PTP command is in a loop and the computer will update the next position in a step of 5 mm in one axis every iteration. How do I make the motion continuous and smooth?
Thank you in advance.
Code
;FOLD CASE 2 Relative Move
CASE 2
sendtext[4].s[] = " REL "
IF TempMoveData.Speed<=0 OR TempMoveData.Speed>100 THEN
VelAxis=10
ELSE
VelAxis=TempMoveData.Speed
ENDIF
IF TempMoveData.Acc<=0 OR TempMoveData.Acc>100 THEN
AccAxis=10
ELSE
AccAxis=TempMoveData.Acc
ENDIF
FOR i=1 TO 6
$VEL_AXIS[i]=VelAxis
$ACC_AXIS[i]=AccAxis
ENDFOR
moveframe=TempMoveData.XFrame
PTP_REL moveframe
sendtext[3].s[] = "Ready"
;ENDFOLD
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