Started by Xylotica, May 09, 2022, 05:18:13 PM
Quote from: Xylotica on May 13, 2022, 02:18:13 PMQuoteYou can right-click the symbol/name of each movement component and change the chosen interpolation method.I see that ; there is even a "no interpolation" option.The trouble is that it isn't very easy to manage because again, the option is not accessible as an input.If it were, it would be easy, in a list of LIN movements to have a coresponding list of "Interpolation methods".Then depending on , say, the angle between successive movements, one could chose between methods.QuoteIt would be possible to change the approximation parameters via the Custom KRL component, if needed.As a workaround, perhaps I might try it out. It's just string formatting after all...QuoteRegarding defaults, the controller keeps the last value, as far as I know.I have absolutely no idea what "typical" settings are use for milling.Since milling can involve sharp edges, I would expect these values to be quite small, but exactly "how" small is still OK in terms of robot jerkiness : that's what I'd like to know.QuoteAlso, you might give the SLIN movements a try, they can be a bit smoother. It's an option in the Code Generation settings.I don't want smoother. I want control over where it can be smooth, and where it shouldn't.I checked the KSS doc. on SPLINE blocks, and as always, I came out even more ignorant as before.It's always blunt, sterile description...Even this Chinese video does a better job of explaining : https://www.youtube.com/watch?v=yIv9Yr9ynOECould you point me to any well-made documentation on these types of movements ?If I get the idea behind this option, if it is pressed, all the movement types will be converted to the new "S" type and inserted in spline blocks, is that right ?
QuoteYou can right-click the symbol/name of each movement component and change the chosen interpolation method.
QuoteIt would be possible to change the approximation parameters via the Custom KRL component, if needed.
QuoteRegarding defaults, the controller keeps the last value, as far as I know.
QuoteAlso, you might give the SLIN movements a try, they can be a bit smoother. It's an option in the Code Generation settings.
QuotePlease don't take this the wrong way, but if you need expert access to all values, you will need to interface at the code level. Here's an example for a LIN component with basically all input. You may need to set the correct path to your libraries for it to work.