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+--- Thread: HOW GET POINTS FOR REAL EXTERNAL AXIS (/Thread-HOW-GET-POINTS-FOR-REAL-EXTERNAL-AXIS)
HOW GET POINTS FOR REAL EXTERNAL AXIS-Andros85-04-15-2020
Hi,
I simulated an application with a linear axis with one MECA500 above.
I generated the program for meca with all points of the path but I don't see points indication for the linear axis velocity and acceleration.
How can I get the list of the points and parameters,velocity and acceleration, to send at the drive of the my external linear axis in real application?
Thank you
RE: HOW GET POINTS FOR REAL EXTERNAL AXIS-Albert-04-15-2020
You could integrate the additional axis by generating a custom command before and/or after the robot movement in the post processors.
The following link shows how you can select a post processor for a specific robot in your RoboDK project.
//m.sinclairbody.com/doc/en/Post-Processors.html#SelectPost
Post processors define how the program is generated for a specific robot you can customize your integration.
For example, I would recommend you to do the following:
- Trigger a signal to move the axis without blocking the robot move
- Send the signal to the robot to move move
- Wait for the axis to reach the final position
Code:
def MoveJ(self, pose, joints, conf_RLF):
"""Add a joint movement"""
if len(joints) > 6: # Integrate external axis
self.addline("MoveAxis(%.3f,blocking=False)" % (joints[6]))
self.addline("robot.Run('MoveJoints', %s)" % joints_2_str(joints[:6]))
self.addline("MoveAxis(%.3f,blocking=True)" % (joints[6]))
else: # Default joint movement
self.addline("robot.Run('MoveJoints', %s)" % joints_2_str(joints))
The function MoveAxis should be available in the generated code and should implement the control of the external axis. You could take a similar approach for the linear movements (MoveL)