June 19, 2019, 03:39:34 AM

# How to calculate Time Taken by each PTP command

### Author Topic:  How to calculate Time Taken by each PTP command  (Read 3755 times)

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July 31, 2014, 12:27:53 PM

#### ravi.joshi53

##### How to calculate Time Taken by each PTP command
Hi,

My KRL program consist of several PTP, PTP_REL etc commands. I wanted to know the time taken by kuka while moving from point a to point b.
How to do it?

-
Thanks

Today at 03:39:34 AM

Guest
##### Re:  How to calculate Time Taken by each PTP command

July 31, 2014, 12:41:27 PM

#### SkyeFire

Global Moderator
##### Re: How to calculate Time Taken by each PTP command
That's not very predictable.  Many variables come into play -- tooling mass, inertia, programmed speed, overall speed, approximation at each point, etc.  There's a reason that simulators that can (almost) accurately predict these motions are Very Expensive.

July 31, 2014, 01:21:07 PM

#### Metalikooky

##### Re: How to calculate Time Taken by each PTP command
You'd like to know ahead of time how long the motions WILL take or you want to know after the motions are completed how long they HAVE taken?

July 31, 2014, 02:23:24 PM

#### ravi.joshi53

##### Re: How to calculate Time Taken by each PTP command
Metalikooky,

See I have written KRL program, which works fine. Once it runs, I wanted to know how much time each move has been taken. Suppose There are some PTP and CIRC motion from point A -> B -> C -> D. After KUKA executes the entire code is there any way I can get to know these taken time?

SkyeFire,

Each PTP motion takes some time to move from one point to another point. I agree with your concerns also. Currently I am using my stopwatch and manually keeping track of these times, which is not accurate but it gives me some idea. I thought that may be we can use KRL to do the same.

July 31, 2014, 03:39:00 PM

#### SkyeFire

Global Moderator
##### Re: How to calculate Time Taken by each PTP command
Oh, I thought you wanted to PREDICT the time.  Okay, this is simple enough.

Use some TRIGGER commands to reset, start, and stop one of the built in system \$TIMERs.  This will give you a total time in ms.

July 31, 2014, 03:46:52 PM

#### ravi.joshi53

##### Re: How to calculate Time Taken by each PTP command

SkyeFire, It would be easier if you can provide sample code of it, capturing the time taken individually by 2-3 PTP commands.

July 31, 2014, 06:58:08 PM

#### panic mode

Global Moderator
##### Re: How to calculate Time Taken by each PTP command
you can use timers:

Code: [Select]
`WAIT SEC 0\$TIMER[1] = 0\$TIMER_STOP[1] = FALSE; do something hereWAIT SEC 0\$TIMER_STOP[1] = TRUEMsgNotify("Process lasted %1 ms","User",\$TIMER[1])`

Today at 03:39:34 AM

Guest
##### Re:  How to calculate Time Taken by each PTP command

August 03, 2014, 04:15:20 PM

#### hermann

##### Re: How to calculate Time Taken by each PTP command
Code: [Select]
`...trigger when distance=0 delay=0 do start1() prio=-1trigger when distance=1 delay=0 do \$timer_stop[1]=trueptp target1 c_ptptrigger when distance=0 delay=0 do start2() prio=-1trigger when distance=1 delay=0 do \$timer_stop[2]=trueptp target2 c_ptpptp target3 c_ptp....def start1() \$timer[1]=0 \$timer_stop[1]=falseenddef start2() \$timer[2]=0 \$timer_stop[2]=falseend`

June 11, 2019, 01:26:55 PM

##### Re: How to calculate Time Taken by each PTP command

@SkyeFire :
Just out of curiosity, what simulators are you referring to? Could you please name some?

Thanks!

June 11, 2019, 03:33:42 PM

#### SkyeFire

Global Moderator
##### Re: How to calculate Time Taken by each PTP command
Process Simulate (formerly RobCAD) from Siemens, and Catia (from Dassault) are the two biggest names I can think of.  And they're extremely expensive -- something like \$USD 20000 per seat, if not more.  And that's for the basic simulation package -- if you want realistic simulation for timing, speed, path approximation, etc, you have to buy an RCS module specific to each brand.

Then there's add-ons for PLC simlation, creating Digital Twins of entire workcells or production lines... it adds up quickly.

There are cheaper alternatives.  Visual Components is one of the better ones.  RoboDK kind of fills in the lower end of the market, and is the only one I know of that has a free demo version.

And, of course, each robot brand makes their own brand-specific simulator, which is usually the best at simulating that brand's program execution, but lacks the sophistication of large-layout simulation for entire cells and plants.

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