Hey All,
First time poster here. I have some questions about the use of Spline Blocks in continuous movement with KRC4. I found some good information in the following older post as well as in the KSS 8.3 manual:
https://www.robot-forum.com/robotforum/kuk…nuous-movement/
In general, I am trying to place a continuous spline block around various continuous PTP and Linear moves. Here is an example snippet:
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;PTP Move
$BWDSTART=FALSE
PDAT_ACT=PPDAT3
FDAT_ACT=FP3
BAS (#PTP_PARAMS,50.000000)
PTP Point3 C_PTP
;Spline (path) Move
SPLINE WITH $VEL.CP = 2
SPL XP5
SPL XP6
SPL XP7
SPL XP8
SPL XP9
SPL XP10
SPL XP11
SPL XP12
ENDSPLINE C_SPL
;PTP Move
$BWDSTART=FALSE
PDAT_ACT=PPDAT14
FDAT_ACT=FP14
BAS (#PTP_PARAMS,50.000000)
PTP Point14 C_PTP
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The PTP moves around the Spline block are continuous and the SPL moves inside the Spine block are also continuous. The issue is that there is a pause on the entrance and exit of the spline block making the entire movement not really continuous. One sentence from the KSS 8.3 manual that stood out to me:
"Spline motions cannot be approximated with conventional motions (LIN,CIRC, PTP)." - Section 7.7.4 Approximation of Spline motions
Does this mean that it is not possible to continuously transition from a C_PTP into a continuous spline block?
Thanks for any help in advance.