Behavior of Feedback Property rstTangent

General

The feedback property rstTangent provides information about the tangent of the current cartesian position along a connected path.

For example, for a cutter application, you need information about the tangent along the path to move the axis controlling the knife.

The tangent is defined by a normalized 3D vector. Within connected paths (CPs), it is not possible to have jumps on the tangent.

However, while switching from one connected path (CP) to another CP there can be a jump in the tangent vector.

Step	Status / Action	Feedback of rstTangent	Connected path
1	Robot is ready and active. No move command is set.	rstTangent.X = 0.0 rstTangent.Y = 0.0 rstTangent.Z = 0.0	-
2	Robot is ready and active. ClearSegmentsFromId(Id=0) is called.	rstTangent.X = 0.0 rstTangent.Y = 0.0 rstTangent.Z = 0.0	-
3	Robot executes a cold start.	rstTangent.X = 0.0 rstTangent.Y = 0.0 rstTangent.Z = 0.0	-
4	Robot is ready and active. A MoveC command is set with i_lrMaxZone = 0.0	rstTangent.X = 1.0 rstTangent.Y = 0.0 rstTangent.Z = 0.0 (rstTangent = blue arrow)
5	While the robot is moving on path, a MoveL command is set with i_lrMaxZone = 0.0	rstTangent.X = 0.701 rstTangent.Y = 0.701 rstTangent.Z = 0.0
6	Robot is in target of connected path 1 (CP1).	rstTangent.X = 0.0 rstTangent.Y = 1.0 rstTangent.Z = 0.0
7	Robot switches from CP1 to CP2 (CP1 is cleared). The value of rstTangent provokes a jump.	rstTangent.X = 1.0 rstTangent.Y = 0.0 rstTangent.Z = 0.0
8	Robot is in target of connected path 2 (CP2).	rstTangent.X = 1.0 rstTangent.Y = 0.0 rstTangent.Z = 0.0

Step	Status / Action	Feedback of rstTangent	Connected path
1	If the robot movement is stopped on path and jogged off the path (xOnPath = FALSE), the tangent remains at last value.	rstTangent.X = 0.701 rstTangent.Y = 0.701 rstTangent.Z = 0.0

Step

Status / Action

Feedback of rstTangent

Connected path

1

If the robot movement is stopped on path and jogged off the path (xOnPath = FALSE), the tangent remains at last value.

rstTangent.X = 0.701

rstTangent.Y = 0.701

rstTangent.Z = 0.0