Hello
I have been looking at system variables for Kuka robots.
$ACT_ADVANCE will tell me how many points are currently planned in the main run.
If there is only one point planned, is there then a way of telling whether the robot is within the blend radius of this point? I am having some problems with a KRC4 robot (KSS v8.3.20), and I am pretty sure that the reason is that the robot is within the blend radius of the final point in the queue, when I add more points to the queue. The points are transmitted from a PC. If I tell the robot to stop completely (wait sec 0) before moving to the next points, it works. But this is not an option in this project, due to cycle time limitations. The problem annoys me to no end - the program has been working perfectly on many KRC2 robots for many years, but on KRC4 we have these problems.
/RoboticsMan