KR 22 R1610, KSS8.5.6, KRC4
Recently had a strange issue (crash) with a robot program we are developing and contacted out local Kuka for support. Couldn't get to the bottom of the problem/reproduce but the support guy critiqued the program we had written.
To give a background, our application involves working within tight tolerances for what is essentially a pick and place operation. we go along a defined path using SPTP motions and finally an SLIN to the part location and then follow the same path back to the start position. The support guy said he couldn't understand why we would use SLIN motion when the tolerances we are working with are tight and suggested switching to LIN instead as well as putting a "buffer" LIN motion between the final SPTP point and the start of the desired LIN start to the part location. This has completely thrown me off as I was under the impression that SLIN succeeds LIN. Honestly, if this was suggested to me by someone other than a Kuka employee I would not have given it much thought at all . I've gone through the manual and the training documentation yet can't find anything that would support what he has suggested.
I guess what I am trying to ask is this: Are there any applications where using PTP is desirable over SPTP, LIN over SLIN etc. ? If so what are some examples ? Why ?