Exit Motion Insertion in TASK 3

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1

Hello there,
I was working with TASK V.3 (Motion Tool) and using the MAX-E2 example Motion Units (see enclosed screen capture)

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And I noticed that some Motion Units allow me to add Exit Motion and some don’t. How was that decided by the TASK tool?
Thanks

2

Hi there roboteer! Thanks for your post and apologies for the delayed response. I’ve been so occupied setting up the category pages here that I didn’t realize this was posted.

My team and I have had some time to investigate the issue and I believe it is due to the overall data size limitation of Motion Units in the R+ Task 3.0 software.

  • Each Motion Unit is allowed ~512 bytes of data to record the robot’s position via Key Frames.
  • As a result, Motion Units with a high number of Key Frames may be too “full” to have space to assign the Exit Motion. It seems that 7-8 keyframes is the upper limit for Motion Units to have space to assign an Exit Motion.
  • To help address this concern for any future users, our team has added a note to our online e-Manual for the software:

WARNING : The Red Arrow , Exit Motion, may not be displayed and not available to use if the sum of used-keyframes’ size in a motion unit exceeds its assigned space in a motion unit. To use the Exit Motion, please use the Keyframes from 7 to 8 approximately. But note that the available numbers of keyframes may differ depending on the remaining space in the motion unit.

Hopefully this helps!

3

Hi Andrew,
That is good to know.
Thanks.