hi I am new to krc4 programming. During the brushing operation i need to reduce the speed at curved paths. The code is generated by the post processor once the surface is selected on mastercam. And somehow in mastercam i cannot define this change of speed on curved paths. As there are hundreds of interpolated points in the code i need a smart to control my speed at the curved path by defining a Loop or a Syntax at the beginning. My idea was to calculate the distance between two Points and at curved paths since the distance is reduced between the points the speed shall be decreased. But i could not find a way to calculate this in krc4. I read about the $FILTER command but i still did not understand the exact functioning of it.
reduce the speed at curved paths
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roboter3119 -
June 2, 2017 at 10:11 AM -
Thread is marked as Resolved.
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$FILTER is not what you want to use. In fact, it's generally a bad idea to tamper with it, unless you really know what you're doing.
You say you have issues with the speed along curved paths. What about straight paths? What specifically is the problem? Is the robot slowing down, moving too quickly, cornering badly?
What kind of motion commands are you using? LINs, CIRCs, SPLINs?
You should be aware, just because you command a motion speed, does not mean you get that speed -- the robot will do it's best to meet your demands, but if you command a motion at 1m/s that the robot can only physically perform at 0.5m/s, due to payload, inertia, the tightness of a corner, etc, you're only going to get 0.5m/s.
It would be helpful if you post a section of your program code including an area where the problem occurs.
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Thank you for your reply. I have defined one feed rate along the whole path. I am using LIN command and when the Robot is moving along a straight line its moving with a constant feed as it is suppose to. My only concern is to reduce the feed along the curved path as it follows along the same feed rate. I define my path in Mastercam and it generates the code for the complete movement(Please note due to few complications i am not able to reduce the Speed at curved paths in mastercam itself). As there are 1000's of Point defined by the code it is not possible to manually insert a command before the curved path. Therefore i am looking for a syntax or a small code that i can insert in start which tells the Robot to reduce the Speed everytime when it detects a curved path.
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Use spline instead of old motion. Spline should automatically reduce to physical limitations of the robot using the robots dynamic model.
Fubini
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As Fubini said: Spline is predictive -- in essence, the entire spline block will be reduced to match the best speed of the slowest motion in the block.
Failing that... well, it depends on your specific system configuration. If you can adjust your tool RPM on the fly, it may be possible to create an SPS element that will constantly poll the robot's current velocity ($VEL_ACT) and update an output based on that value. Then this value would have to be applied to the tool's RPM -- in effect, the tool would be sped up/down to match the robot's spatial velocity in near-realtime. This is not a perfect solution and can be a bit tricky to make work exactly as desired, but it is used in adhesive and welding applications on a regular basis.