Hi folks,
As a newbie poster to the forum I'd like to start by saying thanks to everyone who contributes here - it is a fantastic source of information, and easily the best I found.
I've got a small problem, which I'm hoping someone familiar with KRL can help me with.
Background:
I am using a KRC4 robot.
I perform a LIN move, very slowly (0.01m/s) using a position created by teaching with the smart pad. This move was created using the motion button.
I then wrote a line for the CIRL_REL move, using two FRAME variables. The move velocity when the move runs appears to be directly related to the velocity of the LIN before it.
Problem:
I need to add a line of KRL between the LIN and the CIRC_REL that changes the velocity of the CIRC_REL, and enables me to control it. I cannot change the speed of the LIN move as it must be slow, so it must be a programmatic change.
I have looked through the manuals on the site here, and those supplied by KUKA, but I have not been able to determine how to do this myself.
I have already tried BAS (#VEL_CP, 1 ) but this did not change the observed velocity of the move, which was still very slow.
I have also tried to change the value of $VEL.CP but this did not work either.
Any help anyone can offer would be greatly appreciated,
Many thanks,
Elliott.