Hello guys
I just recently recieved a Kawasaki RS007L with a F-controller, and I trying to write an interface on the controller, to send paths from my PC to the robot.
I have a PC program running on the controller, receving the data points and putting them into an array, along with speed settings etc.
I then start a robot program wit MC Execute to execute the path.
My problem is now regaring continious motion with motion type 1 and motion type 2
If I use a program like this:
.PROGRAM pg_cmovepathequal()
SPEED speed ALWAYS
ACCURACY accuracy ALWAYS
IF EXISTTRANS($cartcheck) THEN
sec = 0
C2MOVE target_cart[sec+1]
C1MOVE target_cart[sec+2]
C2MOVE target_cart[sec+3]
C1MOVE target_cart[sec+4]
END
BREAK
PULSE Motion_complete
.END
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I get a nice continious motion as I want (motion type 2 I believe it is called), but this only works for a fixed path length.
If a make it to use variable path length like this:
.PROGRAM pg_cmovepathequal()
SPEED speed ALWAYS
ACCURACY accuracy ALWAYS
IF EXISTTRANS($cartcheck) THEN
FOR sec=0 TO path_length-2 STEP 2
C1MOVE target_cart[sec]
C2MOVE target_cart[sec+1]
END
END
BREAK
PULSE Motion_complete
.END
Display More
The path is run as a continious motion, but the robot slows down between each iteration of the FOR loop. I far as I can see in the manuals, it is because the motion type is automatically set to type 1, when I use a FOR loop (because of the branch possibility)
So my question is now, is there any way to "force" a motion type 2, so the robot does not slow down between the points, when having a variable path length?
- Nile