Hello all,
usually people ask how to stop a robot faster. I would like to ask the exact opposite; how can I stop the robot slower? Lets go into details:
I am currently working on a KRC4. The mode is EXT and I use an input signal for STOP; it is bound to an interrupt, where I execute the BRAKE command. It is not for safety. It is just a simple STOP from the operator, because -lets say- he wants to go for a coffee (or something).
The gripper however is quite heavy (KR700), so when it stops it stops rather hard ... to the eye. Since it is not for safety, is it possible somehow to increase the deceleration time? Do you think I should change the ACCEL value inside the interrupt and reset it before returning? Do you think there is a slicker approach?