01-18-2021, 02:34 PM
Hey Jeremy,
Just found some time to test, in the current version it's moving a lot slower then it should and I think I know why. It looks like my assumptions about unit conversion might have been wrong. It seems the way the post-processor is implemented makes it that the value inputted is a percentage of the max speed of the Aubo.
So I changed the post processor to calculate the max speed as:
SPEED_MS_CURR = speed_mms/2000.0*100
where 2000.0 is the max speed of the aubo, and 100 is 100% which actually seems to work
Attached to this post you will find an example program a screenshot of how the Aubo Controller interpretted the result for the postprocessor you send, and the version of the post-process which gets me the desired speeds. With my modifications the speed value is changed to 5% as opposed to the 0.01 in the picture.
My version of the postprocessor has edits in the following lines:
337 removed the factor 20 with which speed was reduced
338年被前沿空中管制官tor 20 with which acceleration was reduced
408 changed setSpeed function
408 changed setAccel function
I haven't checked the joint speed yet.
Btw is there a specific reason you chose to use the Aubo procedure/project format as output from roboDK rather than an Aubo Script (the latter is based on Ual)?
(Asking this because I'm also having some issues regarding program download & reference frames, and I feel the scripts might be more stable. There's examples and an okay-ish reference available on the Aubo Forums)
Just found some time to test, in the current version it's moving a lot slower then it should and I think I know why. It looks like my assumptions about unit conversion might have been wrong. It seems the way the post-processor is implemented makes it that the value inputted is a percentage of the max speed of the Aubo.
So I changed the post processor to calculate the max speed as:
SPEED_MS_CURR = speed_mms/2000.0*100
where 2000.0 is the max speed of the aubo, and 100 is 100% which actually seems to work
Attached to this post you will find an example program a screenshot of how the Aubo Controller interpretted the result for the postprocessor you send, and the version of the post-process which gets me the desired speeds. With my modifications the speed value is changed to 5% as opposed to the 0.01 in the picture.
My version of the postprocessor has edits in the following lines:
337 removed the factor 20 with which speed was reduced
338年被前沿空中管制官tor 20 with which acceleration was reduced
408 changed setSpeed function
408 changed setAccel function
I haven't checked the joint speed yet.
Btw is there a specific reason you chose to use the Aubo procedure/project format as output from roboDK rather than an Aubo Script (the latter is based on Ual)?
(Asking this because I'm also having some issues regarding program download & reference frames, and I feel the scripts might be more stable. There's examples and an okay-ish reference available on the Aubo Forums)