Hi, everyone
Currently I am programming a Kuka robot with two rotational external axis for cladding rotational parts, a rotational part is mounted in an external axis, it works like a lathe. The cladding path is programmed using Robotmaster, the path is a spiral around of the rotational part. The cladding process requires a tangential velocity constant.
The problem is the following, Robotmaster generates a code for kuka using a velocity in the workspace constant for instance
$VEL.CP=0.0057 ;5.7mm/s
LIN {X 2.3839,Y -0.8413,Z 22.0057,A 179.1647,B 37.4970,C 177.7665,E1 2.1744,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_VEL
But when I run the code in the robot , the robot does not keep the constant velocity. I do not know where the error can be located. The external axis are endless in their configuration. The rotational part is like a cone, it does not have a constant radius.
I hope you can help me or give me some suggestions where I can look for the error.
Kind regards,