Jump to content
OMRON Forums

motion programs trajectory generation from motor[x].ActPos

Recommended Posts

Good day,

Is it posible to change the starting point of the generated trajectories from the motor[x].DesPos to motor[x].ActPos?

We are currently workikng on a controller that switches from position control to force control upon detectin a collision. We want to use the PMAC built-in trajectory generation by calling motion programs from a PLC. However, to my understanding the built-in trajectory generation allways start from from the current desired position (motor[x].DesPos) and not the current actual position (motor[x].ActPos). Since we will be colliding, there is going to be a big difference between actual and desired position, making subsecuentent moves hard to achive. 

Example with image bellow:

1- Excecute Motion program 1 to move the tooltip to Xcmd (red). Since there is a collision, engage force controll and aply constant force to the colliding surface. Therfore tooltip actual position X (blue) will stop following Xcmd.

2- Excecute Motion program 2 to move the retrieve the tooltip. If the trajectory to follow starts at Xcmd (green), the position controller will try to penetrate the solid we are colliding with.




Link to comment
Share on other sites

  • 3 weeks later...
  • Replies 2
  • Created
  • Last Reply

Top Posters In This Topic

Top Posters In This Topic

Posted Images

Join the conversation

You can post now and register later. If you have an account, sign in now to post with your account.

Reply to this topic...

×   Pasted as rich text.   Paste as plain text instead

  Only 75 emoji are allowed.

×   Your link has been automatically embedded.   Display as a link instead

×   Your previous content has been restored.   Clear editor

×   You cannot paste images directly. Upload or insert images from URL.

  • Create New...