Hello,
I have a question about control of the A1, A2, A3, A4 ,A5 ,A6 axis.
What i have as configuration:
KUKA KR210 R2700 prime FLR
KSS version 8.33
KUKA KRC4 controler
Whant I've done so far:
I lowered the acceleration and velocity of the PTP movement and the LIN movements.
I have two separate movements:
- First one is with defined coordinates
- Second is with the same coordinates, but with different Z value - meaning it only makes the robot go down.
Im using interrupt and a sensor connected on $IN[value].
My whole process is this:
1. First movement
2.Interrupt(for the sensor to detect something)
3.Second movement with same coordinates, but different Z (going down) - adn with slower velocity and accuracy
I defined the sensor without BRAKE/RESUME.
My goal is not to have a pause between the movements.
I know they are separate movements and etc., but do i have to do it with SPLINE,(CP - continious path) movements, or can i do something to make it smooth?
Also I want to control the brakes of those axis - meaning enter the $BRK_Mode.
Is it possible to control the velocity/accurasy during the movement?
All the best,
Valentin Krastev