Basic info of the robot:
KUKA AGILUS KR10 900
KSS version is V8.3.30
KRC4 10
Hello guys,
I have encountered a doubt while working the Kuka agilus. I made simple code to check the range of the approximation of kuka where the robot has to move to three hardcoded points (more than 400mm apart), I used C_PTP for approximation from range of $APO_CPTP 0,10,50,80,100. But I am seeing some limitations in the approximated path, it is more or less same as approximation performed for 50 and 100. Anyone can give me a tip on this, I am looking into the manuals deeply, but so far havent seens anything about the limitation of approx.
Code
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=APTIC_HOME1
PTP APTIC_HOME1
LOOP
$APO.CPTP = 10;50,80,100
PTP {X -250.0,Y 0.0,Z 700.0,A -60.0,B -15.0,C 100.0} C_PTP
PTP {X -650.0,Y 400.0,Z 700.0,A -60.0,B -15.0,C 100.0} C_PTP
PTP {X -250.0,Y 400.0,Z 700.0,A -60.0,B -15.0,C 100.0} C_PTP
PTP REL_POS C_PTP
ENDLOOP
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