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HOW GET POINTS FOR REAL EXTERNAL AXIS
#1
Hi,

I simulated an application with a linear axis with one MECA500 above.

I generated the program for meca with all points of the path but I don't see points indication for the linear axis velocity and acceleration.

How can I get the list of the points and parameters,velocity and acceleration, to send at the drive of the my external linear axis in real application?

Thank you


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#2
You could integrate the additional axis by generating a custom command before and/or after the robot movement in the post processors.

The following link shows how you can select a post processor for a specific robot in your RoboDK project.
https://robodk.com/doc/en/Post-Processor...SelectPost
Post processors define how the program is generated for a specific robot you can customize your integration.

For example, I would recommend you to do the following:
  1. Trigger a signal to move the axis without blocking the robot move
  2. Send the signal to the robot to move move
  3. Wait for the axis to reach the final position
The modification required in the post processor should be something like this:
Code:
    def MoveJ(self, pose, joints, conf_RLF):
        """Add a joint movement"""
        if len(joints) > 6: # Integrate external axis
            self.addline("MoveAxis(%.3f,blocking=False)" % (joints[6]))
            self.addline("robot.Run('MoveJoints', %s)" % joints_2_str(joints[:6]))
            self.addline("MoveAxis(%.3f,blocking=True)" % (joints[6]))
        else: # Default joint movement          
            self.addline("robot.Run('MoveJoints', %s)" % joints_2_str(joints))

The function MoveAxis should be available in the generated code and should implement the control of the external axis. You could take a similar approach for the linear movements (MoveL)
  




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