Properly declaring $APO.CDIS $APO_CVEL and $ADVANCE

    KR200_2 with GM VKRC2 running win95 KSS 4.1.6

    I've been playing around with setting different c_dis, c_vel, and advance values with milling programs to try and get smooth consistent runs. When I click on monitor --> variable --> single and enter in $APO.CDIS, $APO.CVEL or $ADVANCE I only ever see the defaults set on config.dat. Mine are as follows:

    REAL DEF_VEL_CP=2.0
    REAL DEF_VEL_ORI1=200.0
    REAL DEF_VEL_ORI2=200.0
    REAL DEF_ACC_CP=2.3
    REAL DEF_ACC_ORI1=100.0
    REAL DEF_ACC_ORI2=100.0
    REAL DEF_VEL_FACT=1.0

    INT DEF_APO_CPTP=100
    INT DEF_APO_CVEL=100
    REAL DEF_APO_CDIS=3.0
    REAL DEF_APO_CORI=5.0

    For my milling programs, I am using 3000 or so line breaks in the program with one main program calling subs. The main program appears as follows:

    &ACCESS RVO
    DEF test_box()
    ;FOLD INI
    ;FOLD BASISTECH INI
    ;GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    ;INTERRUPT ON 3
    ;BAS (#INITMOV,0 )
    ;ENDFOLD (BASISTECH INI)
    ;FOLD USER INI

    ;ENDFOLD (USER INI)
    ;ENDFOLD (INI)

    ; Date: 11/12/2016 22:21:45

    ; Set PTP velocity and acceleration (this is set for ptp movements at transition points and home positions)
    $VEL_AXIS[1] = 5
    $VEL_AXIS[2] = 5
    $VEL_AXIS[3] = 5
    $VEL_AXIS[4] = 5
    $VEL_AXIS[5] = 5
    $VEL_AXIS[6] = 5
    $ACC_AXIS[1] = 40
    $ACC_AXIS[2] = 40
    $ACC_AXIS[3] = 40
    $ACC_AXIS[4] = 40
    $ACC_AXIS[5] = 40
    $ACC_AXIS[6] = 40

    ; Set'Tool On Robot' Mode
    $IPO_MODE = #BASE

    ; Set smoothing value (This changes to $APO_CVEL depending on the program...I'm only ever using one or the other, never both)
    $APO.CDIS = 2

    ; Set $ADVANCE value
    $ADVANCE = 5

    FOLLOWED BY BASE DATA, TOOL DATA, SPINDLE, AND THEN ALL THE SUBPROGRAMS...

    In looking at some other examples on the forum I noticed some people running programs that also set $ACC.CP, $VEL.ORI1, $VEL.ORI2, $ACC.ORI1, and $ACC.ORI2.
    So, I changed my code up a bit and added in those variable declarations...kept values the same as the default in config.dat and indeed I could then properly set APO.CDIS, APO.CVEL, and ADVANCE (confirmed with monitoring the variables in an active program).

    Can anyone explain why this is? How exactly does one go about properly setting CVEL, CDIS, and ADVANCE parameters? Thanks in "advance".

    Edited once, last by uberdoom (December 14, 2016 at 12:54 AM).

    If I understand you correctly your question is: Why the defaults from $config.dat are not used inside your program before adding them manually? Thats becaus the subroutine call

    ;BAS (#INITMOV,0 )

    in your program is commented out. Try removing the ";" and lookup bas.src which implements the routine BAS(#INITMOV, 0).

    Fubini

    Thanks Fubini.

    I was pretty sure it would be something dumb I overlooked like that when I was posting this...ha. It explains so much.

    ir_stopm doesn't compile properly on my r1 so I had to comment that out. Guess I got a little aggressive with the semi-colons.

    using approximation is going to blur the corners. the larger the value the bigger blur....

    using CAD to path software generates more or less points depending on detail setting. maybe your settings are too coarse and need to get more points

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Hi Panic,

    I tend to add intermediary points on big linear movements to avoid abrupt speed changes when I suddenly have wiggly movements with many points.

    Too much approximation is super-bad for fine milling details, but small CDIS values produce a jerky motion which dents the part.

    I'm doing some tests at the moment with CVEL, and it's more or less the same problem.

    I heard of "S" movements that I can use instead of the usual ones, but I fear that this will lead to too much "smoothing" and it will ruin my precious little details.

    Edited once, last by Wall-E (May 15, 2022 at 5:27 PM).

    it would be easier to comment or offer suggestions if there was a code sample to see, tool picture, tool and load settings etc.

    also did you talk to KUKA? i recall case with water jet robot that was getting vibrations in certain area. KUKA provided setting value to turn of elasticity compensation and the problem was gone.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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