[Feature Request]: Allow execution of ActionID at start of motion

[yeu-rioual]

McePosTable version

0.2.0

Description of the new feature / enhancement

Currently, an ActionID stops the robot and trigger an action at the end of the motion. In some cases, it would be interesting to run an action in different circumstances:

• Run an action at the beginning or at the end of a motion without stopping the robot. This event could raise a flag that could be used to trigger an action or to notify that the robot has reached a certain step in the trajectory
• Run an action a certain distance or a certain time after the beginning or before the end of a motion, without stopping the robot

Implementation

We could reserve several ActionID for type of action. But it could be a little difficult to manage.

Other possibility: We add a nActionStop variable to a McePosTable entry as SINT

nActionStop	action type
0	Robot stop. Action run at the end of motion
1	No robot stop. Action run with a time delay
2	No robot stop. Action run with a distance delay

nActionDelay is also added.

nActionDelay	delay type
0	Action run at the end of the motion without delay
>0	Time or distance after the beginning of motion
<0	Time or distance before the end of motion

Time or distance before the end of motion may be handled by MLxRobotSetDigitalOutputWithMot.

Scenario when this would be used?

In various pick & place or palletization application where vacuum needs to be triggered before pick position. Or simply a flag raised when the robot has reached a certain step in the trajectory.

[yeu-degroot]

Lets keep this simple (also to prevent confusion/overlap with path switching):

• Not delayed or distance based
• Activate this new feature by setting a negative actionID
• There will be no standstill scheduled for negative actionID
• The actionDone is not considered
• If the robot does needs to wait until the action is done, the user has to program this using interlock and interlockFlags