Hi,
We are facing an annoying bug with the TriggSpeed instruction. Sometimes, when execution is stopped, the proportional analog output does not return to 0. The TCP velocity is 0 (this even happens with the motors disabled), but the output remains at a small positive value.
The bug is present in RobotWare 6.16.03 and has also been present in older versions.
This is rather disruptive to our workflow, as we use the analog output to control synchronization-sensitive external equipment.
Please let me know if more information would help, or if this is a known issue.
Thank you.
Bump. We are unfortunately not making progress in tackling this issue.
It just occurred to me that you might be able to use a stop event routine to set it to zero. If you have not yet done so already.
Thank you for the suggestion!
We did try this, but by monitoring the CycleOn system output in a semistatic background task, forcing the analog output to 0 when the robot was stopped. Unfortunately, that means the analog output won’t be in sync with the TCP speed during the deceleration of the robot.
We recently added an AND condition with the Mechanical Unit Not Moving system output, which seems to work better. However, this introduces a slight delay in the analog output upon resumption. This has a slight negative effect on the result, as it’s extremely sensitive to improper synchronization.
It would be great if the dev team can look into this bug. We are facing it on several robotware versions, including the most recent one. Thanks again for your workaround!
You are welcome.
Would you be able to use the system output for TCP speed? Either TCP speed or TCP Speedreference?
That system output is unfortunately not configurable enough for our application. We use the triggspeed together with other trigger signals. But most importantly, we have to “calibrate” the synchronization by using the diplag argument. So the robot sets the analog output a bit in advance of the motion planner, of which we tune the amount of milliseconds.
Also the ability to set the speed scale lag and dynamically changing the scaling of the output per device is being used.