About Ahorn

Thank you for the warning, I have modified the movement from the help point to the offset point to PTP_BLENDED, since the AddOffsetRobotPointToList method removes the joint coordinates. Based on this, I tried changing all the help points to PTP_BLENDED, but the behavior here remained the same. What exactly folder do you mean? And which program (PLC project, ...)? ... View more

The video is shot in one sequence only, because of the size. I tried changing the blending and the difference was not measurable. ... View more

I know about the reduced speed of course, the problem is not in the whole movement, but only when passing through the blending and post blending areas. ... View more

Modified version: point names ending in _H are help points, points ending in _OFFSET are offsets of the corresponding points, offsets are only from nest positions. Trajectories from line 353. We find that the traversal of points WP137_NEST_H, WP138_NEST_H, WP132_NEST_H, WP131_NEST_H, WP134_NEST_H, WP135_NEST_H, WP136_NEST_H, is not smooth. Thank you in advance ... View more

I am attaching a log file. There are about 7 trajectories. ... View more