In Adept and in Okura robots (and possibly others have this too) I used to use a function that would return the remaining distance or even better, the remaining time until the end of the currently executed movement. I have been searching around in the SM3_robotics library and on the web of course to find something similar in Codesys. I use this function normally to counteract the delayed actuation in pneumatic solenoids on end-effectors.
Does anybody now of a function like this or could somebody give me some idea how I could calculate these?
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