Slowing Down on Input

Don
Don ✭
in Robot Controller
Hello,

I would like to perform a move (e.g., MoveL, MoveC) and have the robot move at 100mm/s when an input is off and 4mm/s when the input is on.  I have tried using interupts and VelSet, but VelSet doesn't affect the current move - only subsequent moves.  I have also tried using interupts and SpeedRefresh, but to obtain the required speed the argument to SpeedRefresh needs to be 4*100/MaxRobSpeed() = 0.08 which causes the robot cease movement.  Any ideas?

Best regards,
Don.

Comments

  • frpa
    frpa ✭
    Hi,
    In this case you should use SpeedRefresh 4 (as you want the speed to be 4% of v100).

     

    Please note that SpeedRefresh does not work instantaneously, there is a lag of 0,3 to 0,5 seconds.

     

    Look at the documentation of SpeedRefresh for more details. Good luck!
    frpa2009-11-27 14:55:51
  • Don
    Don ✭
    Thanks mate.  That's it.
  • lemster68
    lemster68 ✭✭✭
    Why not simply  IF di1=1 THEN
                                 MoveL p10, v100,z10,tGrip;

                              ELSE

                                 MoveL p10,v4,z10,tGrip;

                              ENDIF

     
    Lee Justice

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