Hello!
I have simple Cartesian-XY robot for dispensing.
Shape is a mix of straight lines and partial circle.
For corner transition on straight lines I use Blending function.
I'm using Kinematic Interface for commanding.
When I test move in ctrlX Core x3 and look to 3d-Viewer contour movement looks like this (Blending PAR 10 & 10; 2 & 2)
I know that this connection with 3d Viewer is not real-time so I drive this with 5% override.
So this shape is quite accurate.
It looks that blending is just a straight line rather then circle that is described in manual:
So what should I expect from blending: diagonal straight line or circle???
I'm loading whole path at once to motion buffer using arKinCtrl_gb[Kin.GroupNo].Admin.mTriggerMoveCmd()
In this way Blending parameters are considered from my first point.
So IF
Point1: Blending 10 & 10
Point2: Blending 2 & 2
Robot will drive always all points with Blending par 10 & 10
Is there some way to have different Blending parameters on every point of path???
Sample PRG in attachment.
Maybe it is because Kinematic Interface using ML_KinBlendP: Permanent blending
