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".