I have in my KRC4 KSS8.27 some consecutive PTP motions that are approximated with C_DIS.
$apo.cdis is 100. I find the movement could be more fluent, more rounded off.
So now I am wondering what I should do best, increase the $apo.cdis a lot or work with C_PTP in spite of C_CIS, where $apo.cptp is 100.
How can I interprete the value for $apo.cptp? what is the difference in the path if you use C_PTP in spite of C_DIS?
PTP motion C_PTP C_DIS
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Plc_User -
August 12, 2018 at 11:06 AM -
Thread is marked as Resolved.
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Try to use CONTINUE after each of the movement.
For C_PTP and C_DIS, you could take a look at this:
https://www.robot-forum.com/robotforum/kuk…60059/#msg60059 -
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Try to use CONTINUE after each of the movement.
This won't help. Continue has only effect to the very next line. Even if it is a blank line. -
C_PTP is based on % of distance between the points, while C_DIS is a number of mm.
C_PTP maxes out at 50% of the distance between points, on both the incoming and outgoing paths (in joint space). However, this has some side effects.
For example: take a path P1-P2-P3, all using PTP motions, and P2 uses C_PTP approximation. If P1 and P2 are far apart, but P2 and P3 are close together, and the $APO.CPTP is set to 100, the approximation arc past P2 will begin at 50% of the distance between P1 and P2, and the arc will end at the 50% distance from P2 to P3. However, because the arc must be "fitted" at both ends, if the distance between P2 and P3 is much smaller than the distance between P1 and P2, it can have the side effect of forcing the robot to travel much closer to P2 than one might otherwise expect.
This is explained in the section of the manual on approximated motion.