Synchronization of External Axes, Torque Feed Forward Control The axis values of the axes of an axis group are normally calculated at the end of the cycle after the application code programmed by the
Triggers Triggers can be used to perform actions such as switching on a tool when a defined position on the path is reached, or with a time shift before or after. For this purpose, CODESYS SoftMotion
PTP Movements For PTP movements, the path in space depends on the kinematics and only the start and destination points are fixed. The movement is fully synchronous so that the acceleration, constant m
Overview CP movements (Continuous Path) are given by their geometric path. In the case of robotics, these are linear segments ( MC_MoveLinearAbsolute and MC_MoveLinearRelative ) and circular segments
Buffering and Blending of Movements Movement commands can be buffered with CODESYS SoftMotion . Blending of the path between the buffered movements is possible. The commanded path is adjusted by round
Waiting Between Movements SoftMotion Robotics provides the capability of waiting for a specific time between two movements. This may be necessary, for example, when a robot is supposed to grip a workp
