Goodmorning everyone.
i got a problem with a KUKA Agilus. When i try to do this movement:
LIN_REL {Z -50} #TOOL
the robot give me the alarm "Nominal speed A3".
I necessary need to this exactly movement because i have to disengage from a point in tool to keep avoiding collision with the piece.
I think i already found out the problem. From the start position it has a different "T" axes configuration respect the final position of the movement. So i imagine that it calculates a too high speed for the movement he wants to do and then he gives me the alarm.
When i work with a frame it's easy to fix this problem, but in this case i have a LIN_REL movement. So i can't "force" the axis configuration to avoid this issue. I already tryed to reduce acc and vel to the minimum to see if it works but honestly i can't use this solution cause i have a time cycle to respect.
Do you have any idea how to fix it?
Thx for the help.
