Hi all - first time poster here,
I have a gluing application that reqires a continuous fixed speed path movement, I have been able to get a test program (rectangle with rounded corners) working using LIN/CIRC and C_VEL using hard coded points (actual point data to be taken from CAD model of part to be glued). However I have read that I could use a SPLINE block movement to give better results, so I set about duplicating my test program with a SPLINE. If I teach the points I can get a nice smooth movement, but if I feed the SPLINE block with my hard coded points then the movement is not smooth (decel / accel around each point). I also get the following messages :-
KSS01123 Approximate positioning not possible (module TEST, block 76) (=> 1442)
KSS01442 Sequence of instructions that cannot be approximated (module TEST, block 96)
Example of KRL code I am using :-
SPLINE
SLIN POINT[1] C_VEL
SPL POINT[2] //Mid point of arc
SPL POINT[3] //End of arc
SLIN POINT[4]
SPL POINT[5]
SPL POINT[6]
SLIN POINT[7]
SPL POINT[8]
SPL POINT[9]
SLIN POINT[10]
SPL POINT[11]
SPL POINT[12]
SLIN START_POS
ENDSPLINE C_SPL
Can anyone please shed some light on what I am doing wrong here or point me at some further documentation on the use of SPLINE - the documentation I have does not go into any detail on the use of SPLINE outside of using taught points (Kuka System Software 8.22 - Operating and Programming Instructions for System Integrators)