Exchange LIN motion by SLIN

  • Our system is KRC4 KSS 8.3.34 and kr470-2PA robot.

    In a certain part of our program the robot moves its gripper horizontally, from point A to point B with a PTP motion.
    Then the gripper is moved from position B to C, what is a strictly vertical movement downwards.
    Point B is approximated, point c not (robot stops at point c for some actions).
    For reduction of cycle times we tried to speed up the motions.
    Off course for the PTP motion this is no problem. For the LIN motion however we can only bring the speed to about 60% of maximum (2 m/sec), otherwise we get error of axis 5 (palletizing robot), sometimes also from axis 2.
    If I change to motion to point C to SLIN in spite of LIN, will larger movement speed of that section then be possible?
    For now I can in stop the LIN motion to C if a condition is not ok, this is done with the brake-resume function, and works well.
    Will that brake function continue to work is LIN is changed to SLIN,
    The tool data is setup correctly.

  • no code posted so it is not clear if the program is using KRL or ILF motions. to get great speeds, you need either great acceleration (high rate of change for velocity) or long distances (high speed ma be reached eventually, after sufficiently long travel).


    you can change motion to C from LIN to SLIN, so interrupts will still work the same way. i guess you are using vertical motion to search for correct height.



    changing just one motion will prevent approximation with previous segment (point B). reason is that you can only blend motions that are related (done with same motion planner):

    * legacy motion planner does motions PTP, LIN and CIRC.

    * new motion planner does all "S" motions (SPLINE, SLIN, SPTP, SCIRC).

    so if you want approximation there, you better change both PTP and LIN to their corresponding "S" motions (SPTP and SLIN).


    in my experience, if using ILF motions, SLIN can be significantly faster than LIN, and SPTP is about as fast as PTP. ... well, ... technically LIN should be able to get snappier too if you can crank up acceleration, but this brings us to point 1 where you did not post exact code or mention type of instructions. and in general, using ILF instructions is easy but tend to constrain what you can accomplish (regardless if motion or wait etc).

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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