Hello,
KRC2, KSS5.6, KR5002MT
I am struggling with this (very) simple programme :
P1, P2, P3, P4, P5 define a rectangle with a rounded edge (P2, P3, P4). See the attached figure.
I am not able to find a way to make the robot follow this path exactly so it does not mark a stop in P2 and P4 (LIN-CIRC junctions).
I know I can use the same set of instruction with C_DIS ($ADVANCE >= 1) and the bigger $APO.CDIS is the smoother the trajectory will be.
But to have a smooth trajectory I need a quite big $APO.CDIS (around 50mm for a = 250mm) which is not desirable in my case.
I would like to follow the exact path between P1>P2>P3>P4>P5 at constant velocity, which is physically possible because of tangency between LIN and CIRC. Is that possible for the robot ?
Even more simple, what if I have three points P1, P2, P3, aligned. Will the robot always mark a stop in P2 if I write the following program and dont use C_DIS ?