My system concerns KRC4 KSS 8.3.
In my program I have to rotate the tool without any lineair displacement.
The TCP is the same as 'tool 0', only the Z-value is different.
So, I do a PTP move with the same point as where I am standing at the moment but with tooloffset X0.0 Y0.0 Z0.0 A 180 B 0 C 0.
I should want to program an intermediate move before this with same position and with tooloffset X0.0 Y0.0 Z0.0 A 90 B 0 C 0.
This intermediate move will be continuous (C_DIS).
Will the rotational speed of the tool be fluent with this intermediate point? I mean will the speed curve be the same with or without the intermediate move? Or will there be a deceleration acceleration around this intermediate point?
For the moment I have no robot or test environment to test this.
Rotate with tooloffset
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SimotionD410 -
November 20, 2017 at 10:20 AM -
Thread is marked as Resolved.
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Hi,
if you would be using PTP motions with the same tool the motion would be fluid, without CONT it would stop at the middle point.
Not sure how would it react when you'll make tool offset based movement(maybe it will stop the advanced run, then motion would stop).Don't know what are you trying to achieve but you'll get only A6 rotating. I would make it with PTP_REL {A6 90} movement, but I don't know the details.
Don't know if this was helpfull but have a nice day! -
If you use C_DIS for the intermediate point, your approximation radius is controlled by $APO.CDIS. If $APO.CDIS is set too small, the robot will experience deceleration and acceleration passing through the intermediate point. Setting $APO.CDIS large enough should ensure a continuous velocity.
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The fact is that I only rotate my TCP, there is no translation.
The fact that I don't use PTP_REL {A6 90} is because further on in the program I need to do other absolute movements.
I need an intermediate point in my case because I want the rotation in a predefined direction.
Does in my case where only the A-component in the tooloffset of the movements changes, the $APO.CDIS has any influence (there is no translation of the TCP, only rotation)? -
Shouldn't matter -- the C_DIS motion flag takes position and orientation into account, IIRC. Although the angular window is controlled by $APO.CORI, where $APO.CDIS is only translational.
$APO.CORI should probably be set to the maximum by default already, so you probably won't have to tamper with it.