help with robot master program - speed not changes in kuka robot

hi all,

i am doing program for thermal spray coating.

when robot master generated programs its having 10000s points in it.

i am trying to change the speed of robot by setting the velocity as

$VEL.CP=3

but this dosent affect the actual speed of robot.

please remember the programs generated has 10000s of point.

i have attached a sample program.

i dont understand why the robot speed is very slow?

help

thanks fubini.. i will read and check

Fubini you mean to say change from LIN to Spline so that this limitation wont happen?

thanks fubini, i really appreciate your help on this.

i am a robot simulator and new to kuka robot.

i like to understand that my program will look like below line when we generate OLP from Robot master software, which is

LIN {X -64.2835,Y 205.7571,Z -41.6742,A 2.4476,B 3.1076,C -103.5577} C_DIS

you mean to say change C_DIS to C_VEL so my new line of code will look like

LIN {X -64.2835,Y 205.7571,Z -41.6742,A 2.4476,B 3.1076,C -103.5577} C_VEL

and also define C_VEL variable?

is it right ?

fubini C_VEL dsent affect the speed

i think only spline option i should try

panic i changed the $APO variable still its having speed issue.

can you please tell me how spline works. does spline will have constant velocity which we are setting?

Hi Fubini,

i have read the documents and understand how spline works.

now i write a code from robot master software as

SLIN {X -88.5393,Y 99.1345,Z -30.0781,A -2.6482,B -17.6097,C -163.0256}

but it throws some error in real robot, but what is the error the robot is not showing in teach pendant.

any help?

Hi.. i have reduced total no og points now iam getting higher speed

fubini hope below is the spline block

SPLINE
SPL XP1
SPL XP2
SPL XP3
....
ENDSPLINE

in basic training they not given any training regarding splines. i attended basic training.

i am a robot OLP person and i have to give OLP generated to Robot programmer who is a kuka expert.

i have to generate correct Syntax OLP because there is some syntax error in my input.

thank you
bala

can someone please explain is the spine option nt available in krc2 v5.2?

i might read it first