velocity control with RAPID

sleonard

My first time here.

First of all, I am RAPID newbie. I am interested in what can/has be/been done with RAPID.

I know that RAPID enables position-to-position motion. I would like to know if it is possible to mock a velocity controller by programming a loop that makes small position increments. I know that RAPID enables fly-by points and concurrent execution. So I wonder if those commands can be used to generate arbitrary trajectories.

Thanks.

-Simon

sleonard2008-11-14 01:48:38

BrianHoll

@sleonard I have the exact same question... I know this was from a very long time ago, but I am wondering if you every got an answer to this question? 

Thanks,
Brian. 

Henrik Berlin

You can use Externally Guided Motion to by-pass the motion planner and replace it with your own. Check "Application manual Controller software IRC5":