Hello everybody,
I have small problem, so I have on teach pendant globaly robot speed set up on 100%. I would like that robot will be a little bit faster, so I have in program, for example $VEL.CP=0.5, but if I write instead $VEL.CP=0.5, $VEL.CP=0.8 the robot has the same speed like with $VEL.CP=0.5
Working cycle take the same time with different $VEL.CP=xxx type robot KUKA kr30/51c
What dou you think, if I write instead $REL_VEL=80, $REL_VEL=100??
Attached program and I marked on the bottom of the program what maybe could be for change for higher speed...
&ACCESS RVP
DEF L938948 ( )
;EXT VORG_UP ( )
DESCR INI
INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0,"-" )
H50 (0 ) ; init
INTERRUPT DECL 22 WHEN CHK_CODE>0 DO CHK_UP1 ( )
INTERRUPT DECL 16 WHEN $IN[1]==FALSE DO IUP16 ( ) ; inverter control
INTERRUPT DECL 18 WHEN $IN[2]==FALSE DO IUP18 ( ) ; ispad_zraka control
ENDDESCR
STA:
PTP HOME
KOS_SENOR:
IF $IN[3]==FALSE THEN
$OUT[13]=TRUE
HALT
$OUT[13]=FALSE
GOTO KOS_SENOR
ENDIF
KOS=1
OFFSET=0
PALETA.X=0
$OUT[10]=FALSE ;orodje odpri
HALT
LOOP
WAIT FOR $IN[1] ; inverter control is missing
INTERRUPT ON 16
WAIT FOR $IN[2] ; ispad_zraka is missing
INTERRUPT ON 18
;----------------------------
;vzami kos
$BASE=BASE_DATA[10]:{X 0,Y 0,Z 0,A 0,B 0,C 0}:PALETA
$TOOL={X 20.0,Y 0.0,Z 470.0,A 0.0,B 0.0,C 0.0}
;HALT
PTP P675 C_PTP
PTP P676 C_PTP
LIN P677 C_DIS
LIN P678
$VEL.CP=0.05
LIN P679
WAIT SEC 0.5
$OUT[10]=TRUE ;orodje sapri
WAIT SEC 1
LIN P680 C_DIS
LIN P681 C_DIS
$VEL.CP=1.1
PREVERI_KOS1:
LIN P682
WAIT SEC 1
IF $IN[3]==TRUE THEN
$OUT[13]=TRUE
HALT
$OUT[13]=FALSE
GOTO PREVERI_KOS1
ENDIF
PTP P695 C_PTP
PTP P683 C_PTP
;HALT
DESCR BASE 0
BAS (#BASE,0,"-" )
ENDDESCR
DESCR TOOL 1
BAS (#TOOL,1,"-" )
ENDDESCR
$IPO_MODE=#BASE
;GOTO JUMP
;$OUT[10]=TRUE ;Greifer auf
;PTP A1 C_PTP
;HALT
;$OUT[10]=FALSE ;Greifer zu
;HALT ;Kontrolle Greifer zu
$OUT[1]=TRUE ;Motor 1 vklop
;-------------------
;Poliranje ENOTA1
$BASE=BASE_DATA[1]
$TOOL={X 25.0,Y -355.0,Z 215.0,A 0.0,B 0.0,C 0.0}
$VEL.CP=1.59
PTP P541 C_PTP
$VEL.CP=0.20
LIN A4 C_DIS
LIN A5 C_DIS
LIN A6 C_DIS
LIN A8 C_DIS
LIN A9 C_DIS
LIN P729 C_DIS
$TOOL={X 25.0,Y -175.0,Z 345.0,A 0.0,B 0.0,C 0.0}
LIN P755 C_DIS
LIN A27 C_DIS
LIN A28 C_DIS
LIN A29 C_DIS
LIN A30 C_DIS
LIN A32 C_DIS
LIN A33 C_DIS
LIN P834 C_DIS
LIN P835 C_DIS
LIN P836 C_DIS
LIN P837 C_DIS
LIN P838 C_DIS
LIN P839 C_DIS
LIN P840 C_DIS
LIN A34 C_DIS
LIN A35 C_DIS
LIN A36 C_DIS
$TOOL={X 25.0,Y -30.0,Z 505.0,A 0.0,B 0.0,C 0.0}
LIN A40 C_DIS
LIN A41 C_DIS
$VEL.CP=0.35
L
$TOOL={X 25.0,Y 335.0,Z 185.0,A 0.0,B 0.0,C 0.0}
LIN A69 C_DIS
LIN A70 C_DIS
LIN AA1 C_DIS
$VEL.CP=1.59
PTP P822 C_PTP
PTP A72 C_PTP
PTP P757 C_PTP
$VEL.CP=0.8
PTP A75 C_PTP
$VEL.CP=0.35
LIN A76
LIN A77 C_DIS
LIN P758 C_DIS
LIN P759 C_DIS
LIN P760 C_DIS
LIN P761 C_DIS
LIN P762 C_DIS
LIN P763 C_DIS
LIN P764 C_DIS
LIN P765 C_DIS
LIN P766 C_DIS
LIN P767 C_DIS
LIN P768 C_DIS
LIN P769 C_DIS
$TOOL={X 25.0,Y -30.0,Z 505.0,A 0.0,B 0.0,C 0.0}
$VEL.CP=1.59
PTP P820 C_PTP
$TOOL={X 25.0,Y -175.0,Z 345.0,A 0.0,B 0.0,C 0.0}
$VEL.CP=1.59
PTP X1 C_PTP
PTP X2 C_PTP
PTP P824 C_PTP
PTP P823 C_PTP
$VEL.CP=0.2
LIN X3 C_DIS
LIN X6 C_DIS
LIN P699
LIN X7
$VEL.CP=1.59
PTP X8 C_PTP
PTP P700
PTP X9 C_PTP
$VEL.CP=0.2
LIN P723 C_DIS
LIN P724
LIN P725 C_DIS
LIN P726 C_DIS
LIN P727 C_DIS
$VEL.CP=1.59
PTP X10 C_PTP
$OUT[2]=TRUE ;Motor 2 vklop
$OUT[1]=FALSE ;Motor 1 isklop
;poliranje ENOTA2
$BASE=BASE_DATA[2]
$TOOL={X 25.0,Y -175.0,Z 345.0,A 0.0,B 0.0,C 0.0}
$VEL.CP=1.59
PTP A101 C_PTP
PTP A102 C_PTP
PTP P102A C_PTP
$VEL.CP=0.45
LIN A103 C_DIS
LIN P642
$VEL.CP=1.59
PTP A141 C_PTP
$OUT[3]=TRUE ;Motor 3 vklop
$OUT[2]=FALSE ;Motor 2 isklop
;poliranje ENOTA3
$BASE=BASE_DATA[3]
$TOOL={X 25.0,Y -355.0,Z 215.0,A 0.0,B 0.0,C 0.0}
PTP A145 C_PTP
PTP A146 C_PTP
$VEL.CP=0.15
LIN P572 C_DIS
$VEL.CP=0.37
LIN A150 C_DIS
L
$TOOL={X 25.0,Y -30.0,Z 505.0,A 0.0,B 0.0,C 0.0}
LIN A160 C_DIS
LIN A169 C_DIS
$VEL.CP=0.02
LIN A170 C_DIS
LIN P487 C_DIS
LIN P496 C_DIS
$VEL.CP=0.37
LIN P488 C_DIS
LIN P495 C_DIS
$VEL.CP=0.37
LIN A173 C_DIS
L
LIN P497 C_DIS
$VEL.CP=0.02
LIN P498 C_DIS
LIN A180 C_DIS
LIN P500 C_DIS
$VEL.CP=0.02
LIN P501 C_DIS
LIN A181 C_DIS
$VEL.CP=0.37
LIN A182 C_DIS
LIN A183 C_DIS
LIN A184 C_DIS
LIN A185 C_DIS
$TOOL={X 25.0,Y 335.0,Z 185.0,A 0.0,B 0.0,C 0.0}
LIN P502 C_DIS
LIN P514 C_DIS
LIN P515 C_DIS
$VEL.CP=1.59
PTP P516 C_PTP
PTP P517 C_PTP
PTP P519 C_PTP
PTP P518 C_PTP
PTP P518A C_PTP
$OUT[4]=TRUE ;Motor 4 vklop
$OUT[3]=FALSE ;Motor 3 isklop
;poliranje ENOTA4 SVETLENJE
$BASE=BASE_DATA[4]
$TOOL={X 25.0,Y -355.0,Z 215.0,A 0.0,B 0.0,C 0.0}
PTP P579 C_PTP
$VEL.CP=0.7
LIN P580 C_DIS
L
LIN P590 C_DIS
$TOOL={X 25.0,Y -30.0,Z 505.0,A 0.0,B 0.0,C 0.0}
LIN P591 C_DIS
LIN P602 C_DIS
$VEL.CP=1.55
PTP P605 C_PTP
PTP P606 C_PTP
$VEL.CP=0.7
LIN P607 C_DIS
LIN P608 C_DIS
$TOOL={X 25.0,Y -355.0,Z 215.0,A 0.0,B 0.0,C 0.0}
LIN P609 C_DIS
LI
LIN P620 C_DIS
$TOOL={X 25.0,Y -30.0,Z 505.0,A 0.0,B 0.0,C 0.0}
LIN P621 C_DIS
LIN P632 C_DIS
$VEL.CP=1.59
PTP P633 C_PTP
PTP P634 C_PTP
PTP P635 C_PTP
$OUT[4]=FALSE ;Motor 4 isklop
;jump:
DESCR TOOL 1
BAS (#TOOL,1,"-" )
ENDDESCR
;$IPO_MODE=#TCP ;tu
$RED_VEL=80
$VEL.CP=0.2
CONTINUE
$OUT[1]=FALSE ;Motor 1 aus
CONTINUE
$OUT[2]=TRUE ;Motor 2 ein
DESCR BASE 2
BAS (#BASE,2,"-" )
ENDDESCR
$VEL.CP=0.2
DESCR BASE 3
BAS (#BASE,3,"-" )
ENDDESCR
$OUT[2]=FALSE ;Motor 2 aus
;VORG_UP ( )
CONTINUE
PULSE ($OUT[11],TRUE,1 ) ;Hupe
JUMP:
;-----------------------
;odlozi kos
$BASE=BASE_DATA[10]:{X 0,Y 0,Z 0,A 0,B 0,C 0}:PALETA
$TOOL={X 22.0,Y 0.0,Z 400.0,A 0.0,B 0.0,C 0.0}
;HALT
PTP P684 C_PTP
PTP P685 C_PTP
LIN P686 C_DIS
$VEL.CP=0.1
LIN P687
;wait sec 0.5
$OUT[10]=FALSE ;orodje odpri
WAIT SEC 1
LIN P688
LIN P691 C_DIS
LIN P696 C_DIS
LIN P697 C_DIS
$VEL.CP=1.1
PREVERI_KOS2:
LIN P692
WAIT SEC 1
IF $IN[3]==FALSE THEN
$OUT[13]=TRUE
HALT
$OUT[13]=FALSE
GOTO PREVERI_KOS2
ENDIF
PTP P689 C_PTP
PTP P690 C_PTP
;HALT
KOS=KOS+1
OFFSET=OFFSET+115
PALETA.X=OFFSET
IF KOS>11 THEN
KOS=1
OFFSET=0
GOTO STA
ENDIF
ENDLOOP
END
Please help me
thank you and have a nice evening