Dear all,
After the help provided by some members of the forum, we're working in FAST mode using RSIXML to control our KR150-2 KUKA robot using an real-time computer, but we have found another problem and we need your help again:
- We sent the desired robot positions via RSIXML to the KR C2, and using the FAST mode the robot should execute these commands in the next 12ms cycle (first 12ms cycle to send the information from the KR C2 to the real-time computer and to receive the new robot position from the real-time computer, and the next 12ms to execute that position command).
- But we're observing a totally different scenario: the robot needs 2 cycles to start the movement, 17 cycles (more or less) to reach a constant velocity and 12 cycles to reach the 1st commanded position (these three behaviours could be understable, due to the robot inertia); but, from this point, all the positions sent to the robot are executed with a delay of 10 cycles (is to say, 120ms between the commanded position and the real position).
We tried different scenarios, with different trajectories, and the behaviour is the same always. Does anyone knows what's is happening?
Thanks in advance,
Luis