Can 12 millisecond cycle of KUKA for sending correction values in position and angles be changed?
Can it be changed using... $TIMER.
Can 12 millisecond cycle of KUKA for sending correction values in position and angles be changed?
Can it be changed using... $TIMER.
you can use 4ms with RSI
Not on a KRC2. And the 4ms IPO_FAST mode only works for some portions of RSI on KRC4, not all.
$TIMER is an array of internal timing variables. They do not control anything about the robot's clock speed, they simply allow you to track time durations by controlling their value and start/stop settings. Their resolution is limited to 12ms because that is still the base system clock rate.
Thank you skyfir,
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