paddax Posted April 7, 2013 Share Posted April 7, 2013 I'm assuming I have something wrong here but here are my conclusions. Given the following motion program running in a simple #1->1000X coordinate system. open prog 1 linear F1000 X1 X2 X3 X3 X3 close When this program is run at the point the system hits the second X3 the program aborts with RunTimeError. It appears that programming the same position twice while Coord[x].NoBlend=0 (the default condition) causes the error. Changing the program to the following allowed the program to run open prog 1 linear F1000 X1 X2 X3 X3.00000001 X3.00000002 close It appears any closer to coincidence of two sequencial moves causes a RunTimeError. Addendum An incremental move of 0 causes the same problem. Link to comment Share on other sites More sharing options...
curtwilson Posted April 8, 2013 Share Posted April 8, 2013 The only way I can duplicate this problem is by having my TA acceleration time and TS S-curve time both set to 0 (and no segmentation time as well). When this is done, the move time evaluates to exactly 0. This would also command infinite acceleration in your trajectories, so should be avoided. Link to comment Share on other sites More sharing options...
paddax Posted April 9, 2013 Author Share Posted April 9, 2013 That caught me out, why is the default an invalid value? Link to comment Share on other sites More sharing options...
KEJR Posted April 19, 2013 Share Posted April 19, 2013 That caught me out, why is the default an invalid value? I don't work for Delta Tau so I can't speak for them, but if it were me I would put a default accel of zero just because it would be dangerous for them to assume a "safe" accelleration for your system. I can imagine some bad scenarios. I believe its good practice to assign your accel and velocity on every prog or at least at startup of the system. KEJR Link to comment Share on other sites More sharing options...
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