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AutoGen_521938

Hello,

I am currently working on a project to electrify a two-axis system, similar to a Scara 3D system, but only equipped with primary and secondary rotations. I am having difficulty executing its command, and I would like to explain my problem to you.

The system is controlled by a portable control, equipped with two proportional joysticks that the operator wears around his neck, similar to crane truck controls. One of the joysticks controls the forward/backward movements, while the other manages the left/right movements. Each joystick also provides proportional information, used to set the desired movement speed.

For axis-by-axis movements, the "MC_MoveJog" block works perfectly. However, the goal is to move the two axes in a coordinated manner, i.e. in a Cartesian manner.

To achieve this goal, I implemented a "Kinematics" logic object, which allows me to define work and blocking zones, as well as to move both axes simultaneously. However, the "MC_MoveJog" block is not compatible with this kinematics object. I am therefore forced to use the "MC_MoveLinearRelative" block, which limits real-time control, because it requires specifying a destination to reach before being able to define another one.

My goal is to allow real-time movement of the system. Do you think that such a request is feasible, or should I resign myself to axis-by-axis movement, or even automate the movements without being able to control them directly via the command?

Thanks in advance for your help,