Our system is KRC4 KSS 8.3.34 and kr470-2PA robot.
If I use the 'Brake' function in an interrupt routine when a LIN motion was active, what decceleration value will be used then? If I have set $ACC.CP to a certain value before the LIN motion was started, will this value then also be used for the decceleration when brake function (not a brake f or brake ff) is executed in an interrupt routine?
Or is a fixed decceleration value always used?
Decceleration value during brake function in interrupt routine
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Plc_User -
June 12, 2020 at 11:37 PM -
Thread is Unresolved
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It is the same as setting $ov_pro to zero. So no relation to the programmed acceleration.
Fubini
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Thanks,
Ok, so it seems not be possible to influence that decceleration.
But what will the decceleration rate then be is §OV_PRO is set all of a sudden to zero?
What is its rate for a LIN motion, what for a PTP motion? -
For ptp it is the maximal deceleration not violating bounds on torques. Hence it depends on loads, positions, velocities, .... and is not constant.
For Lin and circ constant internal bounds on Cartesian acceleration are used. Unfortunately no longer being with KUKA I can no longer look up the details.
For spline moves no matter which type it is always like in old motion ptp.
Fubini