maslick

Hey Richard! The axes velocities (X,Y,Z,A,B,C) have to be constant in my case and are set by the user. Do you mean something like (using abstract syntax notation): while(1) { (Xcurrent+dX):Xvel (Ycurrent+dY):Yvel (Zcurrent+dZ):Zvel (Acurrent+dA):Avel (Bcurrent+dB):Bvel (Ccurrent+dC):Cvel if (CurrentPos==(CommandedPos-deltaPos)) { X:0 Y:0 Z:0 break } }

Hello! I would like to control the hexapod platform using PVT mode. We have already implemented a system using LINEAR mode. Now, I have added into the inverse kinematics routine the computation of the motors' velocities. Here is a piece of a motion program I have written so far: close #include "macro_constants_def.pmc" open prog 1 ; open buffer for program entry clear ; erase existing contents of buffer &1 PVT200 ;Move absolute ABS ;Transform from uRad to deg. UCSPoseA=UCSPoseAuRad/TouRad UCSPoseB=UCSPoseBuRad/TouRad UCSPoseC=UCSPoseCuRad/TouRad X(UCSPoseX):(XVel)Y(UCSPoseY):(YVel)Z(UCSPoseZ):(ZVel)A(UCSPoseA):(AVel)B(UCSPoseB):(BVel)C(UCSPoseC):(CVel) The only thing is that I use only one "X:(Vx)Y:(Vy):Z:..." statement. When I have to slice my entire move (contour) into pieces, so like the move will consist of 50 little jogs. How can I implement this? By putting it in a loop? Or is there a better way? Thanks in advance! -- Best regards, Pavel Maslov, MS Controls Engineer at Pulsed power Lab Efremov Institute for Electro-Physical Apparatus St. Petersburg, Russia Mobile: +7 (951) 672 22 19 Landline: +7 (812) 461 01 01