$VEL_ACT should update every 12ms.
What version of RSI are you using?
RSI can access $POS_ACT without the issues the SPS does -- you could simply read that every cycle and get the speed by doing a 3D subtraction.
Or, you could set up $VEL_ACT on an ANOUT, and then read the ANOUT from inside RSI.
12 ms update of $VEL_ACT , is slow 
, when path velocity is 1m/s ， the travel of TCP is 12mm !
my RSI version is 3.2
you could set up $VEL_ACT on an ANOUT, and then read the ANOUT from inside RSI.
I did
KSS is a very mature operating system. When it originally was created, 12ms was blindingly fast, and is still sufficient for 90% of the market. That said, KUKA has been working on improving or replacing KSS for the 21st century, but it's not easy. The amount of testing and certification is enormous.
KRC4s can, in some cases, support RSI updating at 4ms (IPO-FAST mode), but there are some limitations on this that I'm not fully conversant with.
$VEL_ACT should update every 12ms.What version of RSI are you using?
RSI can access $POS_ACT without the issues the SPS does -- you could simply read that every cycle and get the speed by doing a 3D subtraction.
Or, you could set up $VEL_ACT on an ANOUT, and then read the ANOUT from inside RSI.
I have no idea about how to set up the $VEL_ACT on an ANOUT. I also want to use the actual velocity of TCP in RSI but I can not send it out. In the SeanTech Tracking, I find its RSI diagram can send it out.
12 ms update of $VEL_ACT , is slow
my RSI version is 3.2
I did
The system variable should be update as fast as 12ms. The speed 1m/s(60m/min) is so fast for arc welding even for laser welding. In my opinion, RSI can be used to develop glue tech, arc welding and laser tech where need real-time path correction. It is not high performance for high speed path correction.
It's covered in section 5.5.1 of the KSS 5 Expert Programming Manual, which should still be available in the Manuals&Software sub-forum.
... The speed 1m/s(60m/min) is so fast for arc welding even for laser welding. In my opinion, RSI can be used to develop glue tech, arc welding and laser tech where need real-time path correction. It is not high performance for high speed path correction.
so it's not real-time enough ...
It's covered in section 5.5.1 of the KSS 5 Expert Programming Manual, which should still be available in the Manuals&Software sub-forum.
Thank you! I have found it in section 5.5.1.
so it's not real-time enough ...
But it's enough for the application of arc welding.
