Dear all, have a nice day.
Right now I'm developing an application which requires velocity mode control for a KUKA equipped with KRC2, I need to command the velocity of each axis, but not like PTP or LIN conventions, this, since I need to monitor the position of each axis to stop the motion.
Example for a single axis:
DEF Velocity_mode_01
//Current pos of A6 = 0;
curr_pos = $A6_pos; // read current pos
des_pos = 90; //desired pose in degrees for axis 6
error = des_pos - curr_pos;
if error > 5
move A6 = +6 m/s;
elseif error < -5
move A6 = - 6 m/s
else
move A6 = 0 m/s;
end
END
Is this possible?, I mean, is possible to command each axis like this?
Thank you, Jacob.