Speed

RAPID/SERVER.mod

@@ -35,7 +35,7 @@ VAR bool moveCompleted; !Set to true after finishing a Move instruction.
 
 !//Buffered move variables
 CONST num MAX_BUFFER := 128;
-PERS bool paused := TRUE;
+PERS bool paused := FALSE;
 PERS num BUFFER_POS;
 PERS num BUFFER_LEFT;
 PERS bool MOVING;
@@ -168,6 +168,9 @@ PROC main()
     VAR robtarget pwobj3;
     VAR wobjdata cwobj;
     VAR num writePos := 1;
+
+    VAR num speed := 250;
+    VAR speeddata newSpeed;
 
 
     !//Motion configuration
@@ -191,7 +194,7 @@ PROC main()
         addString := "";            
 
         !//Wait for a command
-        SocketReceive clientSocket \Str:=receivedString  \ReadNoOfBytes:=67 \Time:=WAIT_MAX;
+        SocketReceive clientSocket \Str:=receivedString  \ReadNoOfBytes:=76 \Time:=WAIT_MAX;
         ParseMsg receivedString;
 
         !//Execution of the command
@@ -340,23 +343,31 @@ PROC main()
                 WHILE BUFFER_LOCKED DO
                     !wait
                 ENDWHILE
-                IF nParams = 7 THEN
+                IF nParams = 8 THEN
                     cartesianTarget :=[[params{1},params{2},params{3}],
                                         [params{4},params{5},params{6},params{7}],
                                         [0,0,0,0],
                                         externalAxis];
+
+                    speed := params{8};
+                    if speed < 1 OR speed > 250 THEN
+                        newSpeed := [250, 250, 250, 250];
+                    ELSE
+                        newSpeed := [speed, speed, speed, speed];
+                    ENDIF
+
 !                    IF BUFFER_POS < MAX_BUFFER THEN
 !                        BUFFER_POS := BUFFER_POS + 1;
 !                        bufferTargets{BUFFER_POS} := cartesianTarget;
-!                        bufferSpeeds{BUFFER_POS} := currentSpeed;
+!                        bufferSpeeds{BUFFER_POS} := newSpeed;
 !                    ENDIF
                     IF BUFFER_LEFT > 0 THEN                        
                         writePos := writePos+1;
                         IF writePos > MAX_BUFFER THEN
                             writePos := writePos - MAX_BUFFER;
                         ENDIF
                         bufferTargets{writePos} := cartesianTarget;
-                        bufferSpeeds{writePos} := currentSpeed;
+                        bufferSpeeds{writePos} := newSpeed;
                         BUFFER_LEFT := BUFFER_LEFT - 1;
                     ENDIF
                     !addString := NumToStr(MAX_BUFFER - BUFFER_POS,2);

abb_node/packages/abb_communications/abb.py

@@ -201,12 +201,12 @@ def set_zone(self,
         msg += format(zone[2], "+08.4f") + " " #10
         self.send(msg) #33
 
-    def buffer_add(self, pose):
+    def buffer_add(self, pose, speed = 250):
         '''
         Appends single pose to the remote buffer
         Move will execute at current speed (which you can change between buffer_add calls)
         '''
-        msg = "30 " + self.format_pose(pose)
+        msg = "30 " + self.format_pose(pose) + format(speed, "+08.2f") +  " "
         self.send(msg, False)
 
     def clear_buffer(self):
@@ -257,7 +257,7 @@ def sender(self):
         message = msg["message"]
         wait_for_response = msg["wait_for_response"]
 
-        while len(message) < 66:
+        while len(message) < 75:
             message += "*"
         message += "#"