MotionTime

Robot Programming
1

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

Can anybody help? Small example attached.

2

Starnge to get this message in a VC Forum :slight_smile:
<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)

3

Hi Hans,

at the moment the MotionTime definition in the new vcHelpers.Robot2 only works for the driveJoints()-method. 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

4

Hey HansKloeverpris,

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

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

BR,

Holms

 

 

 

5

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

In jointMoveToComponent method, then it calls 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