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bschmidt
·Posted in ctrlX MOTION

Transition from Continuous to Discrete motion

Hello,

When in axis is running with MC_MoveVelocity and then MC_MoveAbsolute is activated, I see that the axis comes all the way to standstill before continuing to the target position. With MLC the axis would go to the velocity of MC_MoveAbsolute without stopping and arrive at the target postion in a more "blended" fashion. Are there settings which affect this, or perhaps this transition will be improved in future versions? On a somewhat related note, is there a way to tell a modulo axis to take positive, negative or shortest path when executing MC_MoveAbsolute?

Best regards,

Brian

Best reply by CodeShepherd

Please mention that in the moment you activate the mode position absolute the ctrlX MOTION tries always to go shortest way to the commanded position.

In you case this means:

  • activation point: 300°
  • next absolute 90° in positive: 60°+ 90° = 150°
  • next absolute 90° in negative: 300°- 90°= 210°

So positive direction is chosen as endpoint but as your deceleration ramp is set quite low the axis overshoots the target position and goes backward until absolute position is reached.

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CTRLXMOTION
DIRECTION
REQUIREMENT
VELOCITYMODE
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