Bewtween SPLINE motion and SLIN motion i get small stop. Is there a posibility to somehow avoid that stop?
This is that part of a code :
$OV_PRO=50
PTP_SPLINE
SPTP Point1
SPTP Point2
SPTP Point3
SPTP Point4
SPTP Point5
SPTP Point6
SPTP Point7
ENDSPLINE C_SPL
TRIGGER WHEN PATH=0 DELAY=0 DO OutVacuumOn=FALSE
TRIGGER WHEN PATH=0 DELAY=5 DO OutGripp=FALSE
$OV_PRO=100
SLIN Point8
Transition from SPLINE motion to SLIN
- DobermanQuantum
- Thread is marked as Resolved.
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https://www.robot-forum.com/ro…a-robot-forum/read-first/
We just had the same discussion last week, so please use the search function before posting the same questions over and over again:
https://www.robot-forum.com/ro…-ptp-and-cp-splineblocks/Fubini
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Dear Fubini i have read that post but still i don't get it. That is why i posted a part of a code so someone could guide me to a right track,becouse i have tryed various things but with no results .
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what various things?
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I have tryed to put C_SPL on the end of SPLINE block but that just slows it down ,i tryed with fixed points,so to avoid SPLINE motion,but that wasn't so smooth to watch. I tryed also to change aproximation distance,but with no luck. I am using a new motion planer SPTP for everything so i am not switching between planers,just want smooth transition between spline block and regular SPTP point.
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Could you then please answer the following questions:
•Any messages like "Approximation not possible in T1 or T2? These Messages are filtered away in automatic. If there is no message it is not an advance run stop.
•How Long is your second spline overall? Quite Long (20 meters or something) or quite short. In case it takes the controller to long to plan the second spline block, that is the end of the first spline block is reached before the second spline block is planned fully you will also get an advance run stop and the robots waits at approximation start for planning to finish and continues (with the approximated move) as soon as possible.
•If it is no advance run stop , what are your values of $APO? Please note not only CDIS is relevant also CPTP if e.g. you have additional axes.
•How long are your splines segments? Especially the last segment in the first spline and the first segment of the second spline are relevant. Approximation in Spline starts earliest at the begin of the last segment and ends at most at the end of the first Segment, If they are rather short you can nor expect much of an approximation.Also think about using $STOPNOAPROX for diagnosis.
Fubini
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- yes i got that mesage in T1 mode
- first i got spline block than SLIN move who is quite short (around 100mm)
- APO_DIST 100.000
- those two are very short and diferents between them is only by Z (around 100mm )
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