Is it possible to use blending when moving the robot by changing only the radian?

Technical Questions URScript
1

We are controlling the robot with continuous motion using the movej(p[], t=0.1, r=0.001) function.

Example:

movej(p[0.1, 0.1, 0.1, 0.1, 0.1, 0.1], s=0.1, r=0.001)
movej(p[0.1, 0.1, 0.1, 0.1, 0.1, 0.2], s=0.1, r=0.001)

In this case, the robot’s Cartesian position remains unchanged, and only the joint angle values are being modified.
However, when an r value is added for blending, a C171A5 error occurs.

Is it correct that blending cannot be applied when only joint angles are changed without any change in the robot’s position?

If blending is not possible in this scenario, is there an alternative method to achieve blended motion while changing only the radian?

2

I can see where you’re coming from, but it is not possible, no. A blend is performed at the TCP, and since the TCP will not be moving out of its XYZ position, the blend is not possible to execute.

And FYI, it’s not the joint angles you’re editing. It’s Rx, Ry, and Rz - the TCP’s rotation in the work space/feature.

One way you might be able to achieve this, is to cheat the robot by telling it the TCP is closer to the tool flange. It would require some calculation of an interpolated position between the actual TCP and the tool flange and the set up new waypoints with this TCP that end up in the same rotation of the actual TCP.
A bit janky… Maybe someone else has a better idea. :slight_smile: