MotionTime

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This topic contains 4 replies, has 4 voices, and was last updated by Chungmin Chungmin 10 months, 1 week ago.

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  • #2006

    HansKloeverpris
    Participant

    I can’t control the time for a movement with MotionTime.

    Can anybody help? Small example attached.

    #2007

    HansKloeverpris
    Participant

    Starnge to get this message in a VC Forum šŸ™‚
    <h6>Upload Errors:</h6>

    1. MotionTime.vcmx: Sorry, this file type is not permitted for security reasons.<b></b><i></i><u></u>

    Here is my script from the layout:

    from vcScript import *
    from vcHelpers.Robot2 import *
    import vcMatrix

    def OnRun():

    robo = getRobot(‘OnetoOneInterface’)
    app = getApplication()
    inconv = app.findComponent(‘118Roller’)
    outconv = app.findComponent(‘118Roller #2’)

    while True:
    robo.MotionTime = 10
    robo.jointMoveToComponent(inconv, Tz =1575)
    robo.MotionTime = 2
    robo.jointMoveToComponent(outconv, Tz =1575)

    #2013

    Ralle
    Participant

    Hi Hans,

    at the moment the MotionTime definition in the new vcHelpers.Robot2 only works for the driveJoints()-method.Ā  I think it is related to the missing property CylceTime of LIN- and PTP-statements. So if you want to define the motion time in the jointMoveToComponent()-method, the vcHelpers.Robot2 module requires some extensions.

    BR/Ralle

    #2014
    ImHolms
    ImHolms
    Participant

    Hey HansKloeverpris,

    Seems like there was an issue with an automatic update of the Forum.Ā  Could you try again to upload the file?

    Tip: If that fails you can always zip the file and upload it.

    BR,

    Holms

     

     

     

    #2015
    Chungmin
    Chungmin
    Participant

    InĀ C:\Program Files\Visual Components\Visual Components Premium 4.0\Python\Commands\vcHelpers\Robot2.py

    In jointMoveToComponent method, thenĀ it callsĀ doRSL method.

    In doRSL method, it create RSL statement.

     

    Check driveJoints method, I think this is the only method that set controller setMotionTime.

     

    Oh, I just found out that RSL statement does not have cycle time property. This is new to me.

     

    EDIT: Oh, did not see Ralle’s reply! XD

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