gseidel

Hi kishan, I would recommend to first execute a stop (input bSlowStop or bQuickStop of the interpolator). Only when the interpolator has stopped you should abort the interpolator and preprocessing FBs. BTW., a new rising edge of the execute input should suffice. In case preprocessing is done in a different task: take care to write the abort signal to a local variable in the path and interpolation task and use this local copy. (Otherwise, some preprocessing FBs might see an abort and others not, in...

Hi darwin03, as can bee seen at the end of your video, the direction of rotation now seems correct for all axes. I can only guess, but the most likely reason are different denavit hartenberg parameters in the SoftMotion axis group editors and the robot used in the simulation tool. Maybe some arm lengths differ, maybe some offsets are given with opposite sign. I would again refer you to https://content.helpme-codesys.com/en/libs/SM3_Transformation/Current/SM3_Transformation/Function-Blocks/Standalone-Kinematics/Articulated-Robots/6AxisArticulated/Kin_ArticulatedRobot_6DOF.html....

Hi darwin01, looking at the video and comparing the movement with the first figure in https://content.helpme-codesys.com/en/libs/SM3_Transformation/Current/SM3_Transformation/Function-Blocks/Standalone-Kinematics/Articulated-Robots/6AxisArticulated/Kin_ArticulatedRobot_6DOF.html, I think that the direction of rotation does not match between the RoboDK model and the CODESYS 6DOF kinematics. In the CODESYS kinematics, A1 and A2, when moved in positive direction, rotate into the opposite direction to...

Test topic

Interesting. In the SMC_LimitDynamics case, do you reduce the maximum velocity of the SMC_GeoInfo based on the third derivative of the spline?

Hi gilad, I cannot tell for sure. But I think it should work on any PLC that is capable of doing motion control. Best regards, Georg

Hi gilad, the missing license does not prevent the axis from being enabled. As far as I know, Festo distributes a CODESYS SoftMotion driver for the CMMT drives together with their software. I would contact Festo and ask for the driver. Best regards, Georg

Dear josepmariarams, this (internal) function has been removed with SoftMotion 4.17.0.0. We do not have public functions to compute the extrema of a polynomial. On which polynomials exactly did you call SMC_Polynomial_AbsMaxLocs? (Maybe if I understand better how you limit the jerk I can come up with an alternative.) There is no functionality to limit the jerk of individual axes in the CNC. With SMC_LimitDynamics, you can limit the velocity and acceleration of cartesian (X/Y/Z) and additional (P/Q/U/V/W/A/B/C)...