[Acceleration from commanded position equation]

Hello,

 

I have a simple equation that defines actual pos (mm) using counts. It looks something like this

 

P= 100*sin((P5-10000)/P117)+100

 

Where P5 is counts and P117 is a constant.

 

My problem is: Theoretically I should be able to differentiate this position formula to get Velocity, and then again to get acceleration; but there is now time variable in this equation to differentiate with. Im trying to find the max accel that the robot arm sees through this motion. What am I missing here (other than time)?

 

Thanks

Dave

[Calling a program in a different coordinate system]

CLOSE

END GATHER

DELETE GATHER

DELETE TRACE

 

OPEN PROG 5 CLEAR

ABS

P221=0

TA(P200)

TS(P201)

F(P202)

DWELL(10)

x(100)

DWELL(100)

TA(P100)

TS(P101)

F(P102)

DWELL(10)

Y(183)

DWELL(100)

WHILE(1=1)

TA(P200)

TS(P201)

F(P202)

DWELL(10)

X(730)

DWELL(2000)

TA(P200)

TS(P201)

F(P202)

DWELL(10)

X(100)

DWELL(1000)

P221=P221+1

DWELL(1)

 

END WHILE

CLOSE

 

 

I would like to insert this following program in the loop of the program above. This program has a motor in another coord system.

 

TA(P500)

TS(P501)

F(P502)

DWELL(0)

Z(4)

TA(P500)

TS(P501)

F(P502)

DWELL(0)

Z(0)

DWELL(0)

DELAY(2000)

 

Yes this is on a PMAC Turbo PCI, wrong forum sorry. I can run the programs at the same time by issuing the & commands on the same line but then the movements between the robots are not syncronized because one of the motors runs on a function with variable acceleration. I want to start the program, have it run the robot in coord system 5, pause/stop, cycle robot in coord system 4, pause/stop, continue coord system 5 robot and repeat.

[Calling a program in a different coordinate system]

Hello,

 

I am a new Delta Tau user... I am using PEWIN32PRO to control two robots in two coordinate systems, seperately they work fine but if I try to call the program for the motor in a different coordinate system, I can see that it is running the program but the motor doesnt move (I can see that its calling the program because I have a cycle counter set up and I can see it counting). I have also tried renaming the called program as a sub program by using "open subprog '#' ". I have also tried putting the motor in the same coordinate system but I think because of the way our system is set up that it cannot run this way.

 

Is there a way to run a program from another program which will operate motors from another coordinate system?

 

Thanks!

Dave