Hi,
I am doing a adhesive process, In applying it in a rectangle shape. I want to maintain 0.3m/s through out the process. but unfortunately in all the four curves and in the short sides of the rectangles the speed is dropping. I have maintain 0.3m/s throughout out the process.
I have used
LIN P30 CONT vel 0.3m/s...
LIN P40 CONT vel 0.3m/s...
CIR P50 P60 CONT vel 0.3m/s ....
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....
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Do you have any idea how to solve this problem? Thank you
Maintaining constant velocity
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knowledgesharing -
July 20, 2014 at 12:59 PM -
Thread is marked as Resolved.
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Have you set approximations?
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What version of KSS? I've found the spine function on 8.x to be great at keeping a constant velocity, but it depends on how tight your corners need to be.
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eusty meant 'spline'
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i am using KSS v5.6. it is a rectangle so all 4 corners are 90degree with smooth curve.
is that should have to reduce the approximation or increase the approximation? or is there any other variable to maintain the velocity? -
eusty meant 'spline'Yeah that's the one!
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Well, there's a couple different things you could try. Setting up the entire adhesive pattern as Spline motion block is one, as already stated. The second would be to use normal, approximated LIN motions, but use C_VEL rather than C_DIS. With C_VEL, the robot will try to maintain the same speed as it approximates around points, but if the accel/decels required are too high, the robot will still slow down in the corners. So you may have to turn down the speed on the "straights" to something that the corner motion can keep up with.
Often in Automotive adhesive applications, it's necessary to program the corners "out in space", further out than the actual corners of the desired path, and add some TRIGGER-commanded alterations to the flow rate of the adhesive unit, in order to fully compensate for the robot's velocity changes in the corners. Especially on glass, which can sometimes have very strange compound-angle corners that require re-orienting on all three axes at once. -
Hi thanks for your reply. I am using kuka inline form. Can you please tell me where is C_VEL instead of giving C_DIS. Should i have to change in dat file or ?????
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Hi thanks for your reply. I am using kuka inline form. Can you please tell me where is C_VEL instead of giving C_DIS. Should i have to change in dat file or ?????Yup in the .DAT file, although personally I've not had much success changing this, but I've never tried on 8.x
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did you look inside inline form?
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Yeah, that could be a problem. Unless you install GlueTech, the standard inline forms default to C_DIS. Which means that, even if you altered the LIN command inside the inline form manually, the next time someone does a touchup on it, it's likely to get changed back to C_DIS.
Most of the times that I used C_VEL, I was generating my points mathematically from a single inline form-programmed starting point (the center of a circle, for example).
If you need all the points to be inline form points, you might be better off going with a SPLIN block.