New robot blending functions Poly C2 and Continuos blending do not work

Hello,

I'm trying to use the new robot blending function ( see below ) but the only one I was able to run was the oldone ML_KinBlend. The other 2 new functions ( ML_KinContMotionP and ML_KinPolyTransP) are not performing any blend but maybe I'm using them in the wrong wait.

Please can you give me some advice about where I could be wrong using these 2 functions ??

I Attached some screen shot related to the trace and some tips about how to use my code just in case you want to test it.

Please let me know if you find something wrong in my code.

Many Thanks

Giuseppe

First for clarification:

like mentioned in the library description: ML_KinContMotionP command option is not compatible with blending (see ML_KinBlendP). Therefore, the transition velocity is set to zero (full stop), whenever blending is active. Additionally, the blending lengths should be set to significant smaller values than the length of the commanded motion, when this option is active.
ML_KinPolyTransP "only" adds a sort of spline into the blending area instead of only starting the second command like ML_KinBlendP does. That implies higher calculation effort of the kernel.
To get a smooth continuous movement with a stable velocity (in MLC known as CONT_SLOPE) you will need to use ML_KinPolyTransP in combination with ML_KinContMotionP. So both options have to be active at the same time for a command.

With the ML_KinPolyTransP we encountered an motion internal issue, that prevents blending from working. We are further investigating this.