robodavo

Are you are using Ethercat drives with cyclic position… if so, do you have a position filter set in the drive? This will delay the target position in the drive slightly. It is good to use a very small value of you have a filter turned on.

There is no way to jog a virtual axis that does not have a linear relationship to a motor ie: arm kinematics the only way to simulate this is to duplicate your kinematic code in a real-time plc which sends updated jog commands continually. Another way is to send a coordinated Z move in a motion program and do a coordinated stop (\ or LH1\ in a plc) when you want to stop the jog. Adjust acceleration rates and feed hold slew rates to simulate the jog move required.

The issue is that a circle with the same start and end coordinates can be interpreted two ways, either as a full circle ending back at the same coordinate, or a zero length arc starting and ending in the same place. Rounding errors or internal logic may dictate either solution at run time. The best solution is to break any full circles into two semi circles. This way there can be no confusion.

We have been struggling with the June version of PPMAC IDE 4. Parameters we setup using #define in the .pmh (global definitions.phh) files do not appear in the Autocomplete when editing a .plc file. We have tried blank projects, using the May version, removing all traces from within registry/appdata/programdata and reinstalling, $$$*** To no avail.