Our robot Kuka krc -2150 can not keep up the reading speed of the CAM software. Miling not programmed with advances in software, always below the values .... What can be?
Obs. Sorry for myself English.
I live in Brazil.
Our robot Kuka krc -2150 can not keep up the reading speed of the CAM software. Miling not programmed with advances in software, always below the values .... What can be?
Obs. Sorry for myself English.
I live in Brazil.
The robot cannot achieve the speeds commanded by SprutCAM? Is that correct?
If SprutCAM is programming the motions faster than the robot can physically perform, then it will be necessary to reduce the speed in SprutCAM, along with the milling RPMs.
Also, you need to avoid having many small motions too close together.
Some sample code will help us to understand better
$VEL_AXIS=10 is not a valid KRL statement! You need indices to access each value for robot axis:
INT IDX
...
FOR IDX = 1 TO $NUM_AX
$VEL_AXIS[IDX] = 10
ENDFOR
or
$VEL_AXIS[1] = 10
$VEL_AXIS[2] = 10
$VEL_AXIS[3] = 10
$VEL_AXIS[4] = 10
$VEL_AXIS[5] = 10
$VEL_AXIS[6] = 10
Fubini
Did you try this:
$ADVANCE = 5 ?
Also $APO.CDIS=20 - isn't that too much for milling? Do you have smooth movement of the TCP or it is a bit shaky?
I made these suggested changes and did not change anything visually ...
what is changed by changing those values?
ADVANCE = 5 $?
Also APO.CDIS = $ 20
$ADVANCE = 5 - just determines how many steps to be read in advance
$APO.CDIS= - this is the approximation value for the deviation of the programmed path between the points. As you ar doing surface milling you should follow the points as close is possible. So smaller value is better to have good path accuracy. Thats from my experience, may be i am not entirely right
By the way - what is the speed you are trying to achieve - what speed you are using when programming? and what is the real one? How you calculate it? Sometimes the robot is slowing down its speed when it is close to singularities - may be this is the issue?
Do you have video of the real movements?
hello.
Very good that you told me ... Do not know anything about these parameters ...
Well, actually, I'm talking about the advances cutting. I'm using one right next advance loudly in advance sprut cam, 7000 mm / min faster he works, 10,000 mm / min, but it seems that the robot does not match this advance .... When I use the additional axis (rotate ), It is far worse ....
This is a link to our robot working .. when Vitale was the Sprut Cam Russia, came to help us.
https://www.youtube.com/watch?v=Pm3S82iGfMU
The bosses here were in a fair in Germany, and saw that the robots usinavam much faster ... What do they do in 20 minutes I'm doing here in 50 minutes.
thanks for helping me.
Did you check the tool load? If the robot thinks that the tool is heavy, that might cause this slow motion.
Or may be your robot is with limited speed?
Is it moving fast when you program it manually?
sorry, had not put data loading tools .... only have data of mass M [kg]. center of gravity and mass moments of inertia, can not find ...
The kuka load gives me this data?