Difference between revisions of "Program Examples:Advanced Interpolation"
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Latest revision as of 09:11, 20 October 2021
| Language: | English • 中文（简体） |
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here is an example of using Advanced interpolation:
'------------------------------------------------------------------------------
' File: AI.prg
' Purpose: example of using Advanced Interpolation
' Version: 1.00
' Author: Eran Korkidi
' History: 20.OCT.2021 - Created
dim shared ARR_LOC[4] as location of XYZR
program
dim i as long
ARR_LOC[1] = #{100,100,0,0}
ARR_LOC[2] = #{200,100,0,0}
ARR_LOC[3] = #{200,200,0,0}
ARR_LOC[4] = #{100,200,0,0}
Attach XYZR
XYZR.EN=1
XYZR.BlendingMethod=1
with XYZR
ModelEnable=1
prfType=-1
PassMethod = 1
PassBufferMin = 1
PassBufferMax = 2
PassBufferSize = 100
PassBufferMax = 100
PassBufferMin = 90
PassTranMinGap = 1e-3 ' very short movements (below 1mm), therefore we should chnage tge gap
PassRotMinGap = 1e-06 ' same way with angle
end with
Move XYZR #{0,0,0,0} Vcruise=10
waitForMotion XYZR
Record AI_MOT.rec 10000 Gap = 1 RecData = Setpoint{1}, Setpoint{2}
RecordOn
sleep 100
XYZR.BlendingMethod=3
for i = 1 to 3
Moves XYZR ARR_LOC[1] Vtran=100 Abs=1
Moves XYZR ARR_LOC[2] Vtran=100 Abs=1
Moves XYZR ARR_LOC[3] Vtran=100 Abs=1
Moves XYZR ARR_LOC[4] Vtran=100 Abs=1
next
dopass XYZR
sleep 100
while XYZR.IsMoving
Sleep 100
end while
sleep 100
RecordOff
recordClose
end program ' <MyTask>.prg
