Hi there,
I'm trying to implement a dynamic control for the $OV_PRO. I'm cutting with a circular saw and I would like to tune automatically $OV_PRO value while the saw gets deep into the material in order to keep spindle RPM constant especially during the initial immersion. This is my SPS by now, but it gives me an error during execution that says that "Value assignment is inadmissible".
Code
[...]
REAL RPM_DIF
[...]
;---------DYNAMIC OV_PRO
IF HSD_SPEED_IN > 100 THEN ;HSD_SPEED_IN is the speed read by the sensor
RPM_DIF = HSD_SPEED_IN / HSD_SPEED_SET ;HSD_SPEED_SET is the speed set by the program
$OV_PRO = (100-(99*$ANIN[1]))*RPM_DIF
ELSE
RPM_DIF=1 ;
$OV_PRO=100-(99*$ANIN[1]) ; BASIC OV_PRO CONTROL ;$ANIN[1] is the value of a potentiometer to control $OV_PRO from the remote pendant
ENDIF
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I found this old post, so I guess I'm not too far from the solution.
https://www.robot-forum.com/robotforum/kuk…84495/#msg84495
Maybe someone has some suggestion?
Cheers,
Marco