Controlled stop after movep at specific point

Technical Questions
1

Hello,

I am developing a URCaps to create specific paths. The URCap is generating a script with a loop, that includes movep and movel lines.
The robot should move at a constant speed during the path, but at the end of a line, it should stop in a controlled way at the last point of the line.
There must be a easy solution, but I was not able to find it.
When I put a movel at the last point (the program accesses it via an If-command in the loop), the robot already stops at the second to last point and then moves to the last point like a normal movel commend.
I want to robot to still move at the constant speed at the second to last point (movep) but break at the last point.
Stopl does not seem to stop at a specific point. It does not have an input parameter for that. The path it is continuing while breaking also does not make sense.

How can I solve this simple thing?

Thanks

2

MoveP has an acceleration parameter that should be taking effect when it gets within the Blend radius (other parameter) of the Waypoint. What are your values for acceleration and blend?

3

Hi Eric,

because I need to have high path accuracy for the process, the blend radius is the lowest, 1mm.
The acceleration and speed can be set in the urcap, but usually are 100-200mm/s^2 and 50-200m/s.
The distance between the points of the loop is 10mm. But increasing it to 100mm also did not work. But that would not be a good solution, because not all paths are straight and for some paths intermediate points are needed because a circular move is done.

4

Hmm. Well I’m pretty sure I’ve used MoveLs straight off of MovePs to accomplish exactly what you’re describing here. Can you post the script that your CAP is writing?