I made some pre-work and implemented this public function in IKPath.cs:

**********

//! Added by AF for canceling active paths
public void CancelPath()
{
if (CurrentTarget != null)
CurrentTarget.OnLeaveTarget();

LastTarget = null;
CurrentTarget = null;
NumTarget = 0;
PathIsActive = false;
WaitForSignal = false;

// Reset all Values for all motion types
drivesatposition.Clear();
linearpathspeed = 0;
linearpathacceleration = 0;
linearacceleration = false;
lineardeceleration = false;
LinearPathActive = false;
LinearPathPos = 0;
}

**********

I realized a problem though.

If the current path gets canceled and the next path starts with a linear movement to the target, the robot makes a "jump".

This is caused in RobotIK.cs

After picking the box the robot path gets canceled and another path starts with linear movement.

It might help you with your development work.

Do you need my project for this?

I had similar problems when I tried the RobotIK for the first time.

You have to do I exactly like in the tutorial video and set up the scene settings to the following:

This was the game changer for me haha

Okay, I found it. 

Just need to set interpolation to target on linear. 

I have sent you the project.

Thank you for your help!

I understand that and will solve it as you have described.

If I find a good way to solve this I will let you know for your consideration.

Best wishes

Andreas

Thank you for the quick support.

I real machines there is always this moment when parts are gripped by two components.

For PLC program tests it could be necessary to test what happens if the handing over doesn't work out (e.g. sensor failure). When process of home positioning is started it can happen that the part should stay at the first gripper. This isn't possible currently but I think it should be possible to achieve that by extending the Fixer/Grip/MU scripts. I haven't found the solution yet tho.

Hello Support,

thank you for the video and the support in this case.

This thread is corresponding the my other thread "Handing over MU between two grippers".

I think I need to clarify what I want to achieve a bit more.

Yes I wanted to use the Fixer function which is implemented into IKTarget.

So the robots are using Fixer to pick/place the MU and the round table is using Grip.

The RT gripping is controlled by PLC and the robots gripping is usually (as far as I know) controlled by the robot program itself in real machines. To me the new fixer function in IKTarget seemed to be created right for this case.

I am not sure why I needed to make the changes in the Fixer (script). But without the changes I couldn't make it work. The robot couldn't pick the MU with the fixer function in IKTarget while the MU was gripped by the Grip (Script).

Ofcourse I am sending you the project.

The bigger and physically unlogical problem is handing over between two grippers/fixers.

1. Gripper A is gripping/fixing the MU.

2. Now Gripper B is also gripping the MU. The new parent for the MU is Gripper B now.

Now we are testing home positioning process by PLC program. 

3. Gripper B opens gripping. Gripper A is still gripping the MU and now the MU should change parent to Gripper A.

But currently in simulation the MU is just falling down / not in parent with Gripper A.

I couldn't find an easy solution yet for this by editing Fixer/Grip/MU scripts. 

After writing my question I got an idea. Griping and fixing work now with the following changes in the fixer script.

1. 

This change stops double list of Mus in MUS Entered.

2. 

Now the fixer can fix Mus even if they are fixed by a grip script.

Please verify if this changes are okay and please take a look on my first question above.

Hello,

if I use PLCSim Advanced I can read/write signals which are used in hardware configuration? I don't understand where the difference is between PLCSim and PLCSimAdvanced.

How is the behaviour if I use a real PLC. Is there also the problem that signals used in hardware configuration can't be changed?

Thank you!