Now I’m working on a custom pick and place delta robot solution, based on smoothie.
I’m using a misc switch to control solenoid valve of vacuum ejector.
Config of switch:
All is working perfectly, but it takes too much time to turning off this switch.
And I don’t have any idea why.
This is a log from my custom writed host, with using comands to turn ON and OFF misc switch:
object detected = 0.19020
start moving = 0.19194
turn on vacuum = 0.23800
near to object = 0.27578
go down to take object = 0.28497
go up with object = 0.29475
go to point of placement = 0.30717
sending М43 = 0.30728
vacuum is off = 1.16620
placing object in a box = 1.17320
On parking! Done! = 1.18360
Time from sending M43 to get an “ok” from smoothie - almost a one second! It’s really criticall for me, because my robot is fast. But now it just hangs in place, waiting turning off the vacuum.
And in this case why turn ON command (M42) worked instantly?
Here is a log, when I don’t use any of switch command, just movement:
object detected = 0.25767
start moving = 0.25882
near to object = 0.29923
go down to take object = 0.32037
go up with object = 0.33453
go to point of placement = 0.34480
placing object in a box = 0.51749
On parking! Done! = 0.67044
So I would be grateful for any advice,