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cmackincmackin Posts: 4 Apprentice
in Programming
I am having trouble getting a smooth rotation back and forth +720 degrees and then -720 degrees for a UR10 toot plate or wrist 3 I think it is. I have tried -700 to +700 and it still doesn't work. I have tried breaking the rotation down into approximately 100-degree moves and am able to get it to make that move but it is not smooth. There is a slight pause as it passes through the weigh points. Is there a better way to accomplish this move?
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  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,250 Handy
    Are you using any sort of blend?  If you are telling the waypoint to stop then when you switch directions it’s going to stop but even with a blend it’s going to stop to change directions. Are you seeing other stops other than at the end of each 720 degree segment?

    what is the expected behavior?
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  • cmackincmackin Posts: 4 Apprentice
    Only a small blend because it won't take very much. At the end of each rotation, the transition is relatively smooth. The problem is at each intermediate point. There is a faint tick that you can feel as it passes through each point. BTW, I think I actually go from -350 to +350 for a total of 700 degrees.
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  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,250 Handy
    Which intermediate point are you referring to?  Do you have two waypoints, -350 and +350 or more than that?
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