Hi,
We have a KRC4 controller with KSS 8.3.22. We are using Spline Block for our motion with SPL_REL points. We noticed that the X, Y, Z coordinates go along the desired path but the A, B, C orientation is not correct. at all. When we tried the same code with absolute coordinates (SPL), it works correctly.
Code
;FOLD SPLINE S1 Vel=2 CPDAT1 Tool[2]:ATL Base[2]:NewChuckBase;%{P}%R8.3.40,%MKUKATPBASIS,%CSPL_PARENT,%VSPL_CP,%P 2:S1, 3:, 5:2, 7:CPDAT1
;FOLD ;%{H}
SPLINE WITH $VEL= SVEL_CP( 0.116, , LCPDAT1), $TOOL= STOOL2( FS1), $BASE= SBASE( FS1.BASE_NO), $IPO_MODE= SIPO_MODE( FS1.IPO_FRAME), $LOAD= SLOAD( FS1.TOOL_NO), $ACC= SACC_CP( LCPDAT1), $ORI_TYPE= SORI_TYP( LCPDAT1), $CIRC_TYPE= SCIRC_TYP( LCPDAT1), $JERK= SJERK( LCPDAT1)
;ENDFOLD
;FOLD SPL P1;%{E}%R 8.3.40,%MKUKATPBASIS,%CSPLINE,%VSPL,%P 1:SPL, 2:P1
SPL_REL { X -0.015, Y -0.027, Z -5.000, C 0.000, B 0.000, A 0.000, E1 5.000}
; { SPL X 489.434, Y -181.438, Z 1034.679, C -0.687, B 75.694, A -90.667, E1 95.996}
SPL_REL { X -0.015, Y -0.027, Z -5.000, C 0.000, B 0.000, A 0.000, E1 5.000}
; { SPL X 489.420, Y -181.464, Z 1029.679, C -0.687, B 75.694, A -90.667, E1 100.996}
SPL_REL { X -0.015, Y -0.027, Z -5.000, C 0.000, B 0.000, A 0.000, E1 5.000}
; { SPL X 489.405, Y -181.491, Z 1024.679, C -0.687, B 75.694, A -90.667, E1 105.996}
SPL_REL { X -0.015, Y -0.027, Z -5.000, C 0.000, B 0.000, A 0.000, E1 5.000}
; { SPL X 489.390, Y -181.517, Z 1019.679, C -0.687, B 75.694, A -90.667, E1 110.996}
SPL_REL { X -0.015, Y -0.027, Z -5.000, C 0.000, B 0.000, A 0.000, E1 5.000}
; { SPL X 489.375, Y -181.544, Z 1014.680, C -0.687, B 75.694, A -90.667, E1 115.996}
SPL_REL { X -0.015, Y -0.027, Z -5.000, C 0.000, B 0.000, A 0.000, E1 5.000}
; { SPL X 489.360, Y -181.571, Z 1009.680, C -0.687, B 75.694, A -90.667, E1 120.996}
SPL_REL { X -0.015, Y -0.027, Z -5.000, C 0.000, B 0.000, A 0.000, E1 5.000}
; { SPL X 489.346, Y -181.597, Z 1004.680, C -0.687, B 75.694, A -90.667, E1 125.996}Before the Spline block we have an absolute start point. The commented lines the actual absolute positions.
