Steps to reproduce:
Define thread to monitor get_target_tcp_speed_along_path() function. Teach path in rotary-axis-attached world model frame such that the path does not have a fixed radius from the axis of rotation. teach path at a fixed speed. observe as get_target_tcp_speed_along_path() returns varying value. when axis frame moves whilst robot is performing path
Expected Behavior:
get_target_tcp_speed_along_path() should return fixed expected value even in moving frame as implied by function name
Actual Behavior:
function returns base relative speed rather than path relative speed if frame is in motion at same time as robot
Workaround Suggestion:
Functions which depend on robot motion whilst robot is in motion (specifically weaving pattern functions) are forced to depend on hard coded values from a URCap rather than dynamically generated live robot motion speeds
Robot Serial Number:
-
Affected Version(s)
MotionPlus 1.5 | Polyscope 5.24/25, likely older versions too