1:程序中添加插补器功能块SMC_Interpolator 双击功能块可以查看帮助文档 2:逆解功能是把插补出来的数据转换为轴需要的坐标系。龙门机构只需要XYZ笛卡尔坐标系,而另外一些机构如Scara机械手就需要只需要把笛卡尔坐标系转换成极坐标系。 2.1 添加一个两轴龙门机构的逆解 2.2双击功能块 可以查看说明文档 上图是把笛卡尔坐...
FUNCTION_BLOCK SMC_Interpolator This function block is used to convert a continuous path described by SMC_GEOINFO objects into discrete path position points taking into account a defined velocity profile and time pattern. Afterwards, these position points will typically be transformed by the IEC-...
The SMC_Interpolator always gets the X0 Y0 as the initial position, meaning that the bStopIpo is active until the axis are in X0 Y0 and the release the interpolator to set the new positions to X500 Y500. Is there a suggested method to solve this behavior? bonus question: I get a lot...