Velocity change during movement

    Hi all,


    Can I change the velocity of KRC4 during movement?


    For example, robot performs the LIN movement from P1 to P2 (distance between P1 & P2 is 300mm) with a velocity as a variable written from PLC (Syntax: LCPDAT2.VEL = VelocityFromPLC)
    The value of 'VelocityFromPLC' changes frequently (20 times in a second)


    I want that with this change in 'VelocityFromPLC' , the robot should also change its velocity maintaining its movement


    Thanks in advance

    Hey


    I met the same problem like you before. Now I have a way to solve the problem of Velocity change during movement and it works out well.


    I use the PLC as the controller and kuka robot as the slave without RSI.

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