Problem using RobotMaster with external axis, velocity in the workspace wrong

    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,

    Morning Brother!

    Try to use at the end of the instruction the argument C_DIS when used LIN Moves and C_PTP when used PTP Moves.

    Like this,

    $APO.DIS=Values for aproximation ???
    ADVANCE=3...??
    $ACC.CP=9.0
    $VEL.CP=2.0
    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_DIS

    Did you declare the $ACC.CP?

    You say the robot is not maintaining constant velocity. Where exactly does this occur? Are there any axis reversals being carried out, or is the robot near any axis singularities?

    If the robot needs to maintain a constant velocity relative to the tangent of a cone, you will need to vary the velocity across the length of the cone.

    What is the kinematic configuration of your external axes?

    Hi, mhasman and SkyeFire, thank you for your help.

    mhansman, I am going to try using C_DIS. No, I did not declare $ACC.CP, I will look at this variable.

    SkyeFire, The velocity is not constant when the TCP is turning in a spiral around the cone. RobotMaster generates a code using only one velocity for spiral path, this velocity is defined at beginning of the code. The kinematic configuration of the external axis is synchronized and non-coupled.

    Kind regards,

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