$VEL in Auto Vs Ext

After its moved in EXT what are the variables? Have they been overwritten?
It's strange as AUTO and EXT should be the same.

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Hi,

what are the values of the main run variable $VEL_C ? $VEL ist the velocity in the advance run.

Fubini

Quote

After I run my code they are:
CP = 0.001
ORI1 = 50
ORI2 = 50

I meant $VEL_C during execution in EXT when you robot is to fast, not after your program has finished. $VEL_C tells the programmed velocities of the currently executed motion (the one you see the robot doing at this moment). Hence this Test would reveal if in EXT somebody messed up your programmed data $VEL.

I'm pretty certain that the advance run doesn't have any effect on when $VEL is evaluated -- otherwise the standard inline-form points generated by the KCP menus would never work properly.

hi guys.. I m using Kuka kR10 and KRC4 controller and this is what I made for testing purposes, mentioned acceleration and velocity but when I tried to run in auto robot running with full speed. Can anyone help me for the same

you only programmed low speed for CP motions (LIN,CIRC) but not for PTP.

my guess us that you jumped in horror and stopped program before reaching LIN instruction (line 11 for example). high speed motions you are observing are the PTP motion.

Line 11 sets velocity to 0.5 m/s!

Velocities for PTPs is not reduced. Use $VEL_AXIS[].

and Fubini is absolutely correct, line 11 is an inline form motion that changes speed for CP motions so low speed and acceleration values you had earlier are overwritten

Thank you guys, pls explain me why tool changing automatically in program. I want run certain positions with tool2 but it’s changing into tool1. I defined in program $tool=tool data[2]

You are mixing up expert and inline movements, so you always have to focus on which tool was set in the last movement. In Inline movements always the tool is set as configurated in the inline Form.

I m just using only tool2, even in inline movements. This is how I made the program pls check and let me know where I need to correct

Don't see any reason why robot should switch to tool 1.

How do you recognize that he switches to Tool 1?

Always send the ASCII files (src and dat), or even better a complete archive, don't send screenshots of a program, there can be hidden problems in the folds or .dat files.

No offense but: At best get formal basic training by e.g. KUKA. Your questions so far are very beginner like. This forum can not replace the basic training. And its intention is not to teach every beginner the basics.

Fubini

I'm sending the SRC & DAT files of the program, pls check

Nothing to find in the src, that switches the tool to no 1.

Once again:

Quote from hermann

How do you recognize that he switches to Tool 1?