Thank you Hermann, Leon and Skyefire.
The problem with velocity control is fixed
Since in this 2 months period I have been programming mostly for E6AXIS (for axis specification). I have read about Cartesian coordinate system which is E6POS/FRAME but have not made any ptp movement myself.
The axes specification of my robot kr3 is shown in picture below.
Now when moving the axis (a1 to a6) from PLC, with above code,it work well. But the problem is I want to move my axis2 to something like -68 degree and axis3 to 122 degree (for home position), the controller says Axis2 out of range STOP. This is normal because the max limitation of a2 is -45/135 and a3 is +45/-225.
But I have seen with another program with E6pos and ptp movement, when I monitor the axes specification from the control panel it showed me home position as shown in picture below.
Also in machine.dat there are 6 home position for E6 axis which has a2 and a3 something like a2= -90 and a3= 90. . How can that be possible?
So can some one please tell me, what is the most efficient way to move the axes especially a2 and a3 beyond -45 and +45 respectively without altering much of my above program?
may be instead of $axis_act I can do something like next pose=$position_act_mes and move the E6pos X, Y, Z A B C S T (with like nextpose.X=A1_Input)? But i don't know much about (Cartesian coordinate systems ) and what are the maximum and minimum limitation of X,Y,Z ABC. I read in expert programming but didn't understand much .
OR May be next option can be changing the one of the home position among six of R1\MADA\machine.dat, to a1 to a6 value shown in picture below and send the command to activate that signal input (of that home position as stated in SETU\MADA\machine.dat) from PLC to make PTP movement in my code?
So little bit confused what is efficient solution ?
Thank you.