PTP-Move exceed Speed- and Accelerationlimits of external axis

Robot Programming
1

Hy,

how to avoid PTP-Move exceed Speed- and Accelerationlimits of external axis? → I think that should not happen… :frowning:

Thx & Regards
Feature

2

Well, disable the limit checks :dark_sunglasses:

But it sounds like a bug. How to reproduce?

3

Hy,

we found out with subscribing JointLimitExceededEventArgs that the value of the external axis exceeds because the current value is positivInfinity or NegativInfinity for a short time! → For now we skip them, but’s interesting because the PTP-Move should avoid exceeding its axislimits!?

I will look if I can make an example without productiv-data…

Thx & Regards
Feature

4

Hy @WilliamSmith ,

i submitted a simplified version to our reseller which will forward it to VC-Development.

My extended print shows the problem!

image

Regards
Feature