What is the difference between command position vs feedback position in check messure for new cube? Please give me a simple explanation.
Command vs feedback
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Kate Harris -
May 8, 2023 at 10:44 PM -
Thread is Unresolved
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MOM
May 8, 2023 at 10:59 PM Approved the thread. -
Feedback is the encoders are reporting they are in the cube.
Command is the path calculations say they are in the cube.
The SOUT will turn on when the encoders report they are in the cube with feedback.
The SOUT will turn on when the calculations say they are in the cube with Command.
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Ok, so when should I use the one and the second? Some example?
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Feedback is used for safe restarting conditions. I check to make sure the robot is in the cube before allowing a master job to continue.
Command is used for robot to machine safety. If the robot is told to stop with an interference entrance prohibit, there is a quicker response time since the calculations are in the cube but the robot (encoders) are lagging behind.
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aaa, now I think I understand, i.e. when I choose feedback, the value is calculated on an ongoing basis and it is checked whether the robot is in a cube or with command we have an assessment of the position to which the program from job goes, e.g.
step1 mov j etc
all the time We mean in both cases position of tcp?
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all the time We mean in both cases position of tcp?
Depends on how the cube is set up. If it is cubic, then yes it is the tcp. If the interference is set up as axis then it is based on a range of pulse counts.