I just start on the new project and realized, that c_ptp for ptp motion not working.
$APO.CPTP is set on 50 and still robot stop after each motion. Movement are programaticaly loaded from EthernetKRL.
I dont know what I doing wrong.
KRC 4 c_ptp not working
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Davidko -
October 6, 2015 at 1:11 PM -
Thread is marked as Resolved.
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Hi,
Can you post the piece of code which is not working?
It quite difficult to assist like this.
Thanks
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Quote
FOR i=(1) TO count
RMOVE.A1=xyzabc[i].X
RMOVE.A2=xyzabc[i].Y
RMOVE.A3=xyzabc[i].Z
RMOVE.A4=xyzabc[i].A
RMOVE.A5=xyzabc[i].B
RMOVE.A6=xyzabc[i].C
$APO.CPTP=50
PTP RMOVE C_PTP
$OUT[4]=FALSEENDFOR
RMOVE is E6AXIS and xzyabc is variable from ethernetXML where is store data of each axis.
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the output instruction is stoping advance run pointer which causes stop at each point. remove the line with output or replace it with
$OUT_C[4]=FALSE
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thanks, I try this.
And more one question, may "if" statement prevent smooth path too? -
yes it may
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Try to use CONTINUE before the OUT statement.
You can also set the OUT using TRIGGER statement before the motion command depending on your requirement to trigger it in the beginning or end of the motion.
Thanks
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no....
using CONTINUE before $OUT statement will turn it on/off in runtime which can be several motions before robot gets to that line of code. in fact this will not even be consistent or repeatable depending on current CPU load.
use $OUT_C[] and output will be activated in the middle of approximation. this is same as using TRIGGER command...
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So the best way is to use TRIGGER statement or $OUT_C[].
Thanks Panic
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no problem, using CONT (inline form) or CONTINUE (KRL) with non-motion instructions has to be used carefully when handshaking or under circumstances it may lead to collisions with other equipment. TRIGGER allows you to "dial in" where exactly something will happen (during motion). this is used in SYN OUT and SYN PULSE commands. OUT_C does not have all flexibility of trigger but it does not have to, this is used when simplicity is required.