Max trajectory length 100

[simonschmeisser]

The rapid code contains the magic number of max 100 trajectory points:

abb_driver/rapid/ROS_common.sys

Line 37 in f3068b9

CONST num MAX_TRAJ_LENGTH := 100;

We have incremented this number when using this driver but it would be interesting to know of course if there are limits to array size in RAPID or hardware wise?

AFAIR points beyond 100 are skipped with this error message:

abb_driver/rapid/ROS_motionServer.mod

Line 102 in f3068b9

ErrWrite \W, "Too Many Trajectory Points", "Trajectory has already reached its maximum size",

[gavanderhoorn]

IIRC, 100 was just "some number". As in: it should not be a special limit in any way.

But: the RAPID VM gets really rather slow once arrays/lists get beyond a certain length, and any number would be a limit (ie: if it was 200, we'd get posts from people saying they've ran into the 200 pt trajectory limit).

It's just a property of this downloading driver.

An alternative implementation would be to implement a server (on the IRC5 side) which listens for trajectory pts, appends them to some template .mod and then dynamically load that .mod. As it's an actual file, it wouldn't have any such hard-coded limit. And doing it this way would also result in better motion performance, as the controller can use its look-ahead properly.