Hello everyone,
Using KRC4 and KSS 8.2.1
I am working on a time-lapse program that uses the TIME_BLOCK functionality of SPLINEs to control how long the motion will take through various SPL E6POS (with a camera attached to the arm). It runs fine sometimes but more often than not I get the error "Software limit switch point cannot be reached +A6" (or any of the other axis (1-6).
The relevant part of the code is as follows...
PTP TIMEPATH[1]
SPLINE
TIME_BLOCK START
SPL TIMEPATH[2]
SPL TIMEPATH[3]
SPL TIMEPATH[4]
TIME_BLOCK END = 120
ENDSPLINE
The way I am defining the E6POS inside the TIMEPATH array is by moving the arm to a certain position, capturing the variable $POS_ACT_MES and pushing that into the array. Perhaps this is where I am doing something wrong, maybe it has something to do with the status and turn that gets captured? Should the S and T be coherent across the array? Perhaps adjusting $ORI_TYPE? I have tried a lot of variations and dove deep into a lot of the manuals posted on the forum but to no avail.
I run a similar program with PTP or LIN motions and they make their way though the TIMEPATH array just fine. Now I know the paths differ depending on the motions but maybe this extra info would help achieve a diagnosis.
Thanks