Trajectory for ACOPOS 6D

Hello ,

Any existing Libraries/Functions used to check the Trajectory correctness done on the PLC in terms of Acceleration/Velocity being under limit values, then given to ACOPOS 6D via Cyclic Position ? Like the same done at PM Tool , when trajectory is uploaded displaying errors when Time interval exceeds defined intervals and showing which points from trajectory files are faulty coordinates.

Hello Mohamed.

It seems that the Community is not able to answer this question at the moment. ACOPOS 6D is still rather new. In a quick internal discussion we have not seen a possibility or feature you are looking for. But I suggest to check with your local support team about your inquiry.


Thank you @lukas.struber , we are indeed developing a Function Block internally for this purpose and will test it at the application. Thank You

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