I wrote the program with the touchpad, the program cuts with the spindle, the program from point to point or arc stops and starts, it is a problem, I need to redo the program to cut at a constant speed without stopping at the end of each point. Robot control is krc2 without spline function.Is there any way to make the program run at a constant speed?The smoothing function is good, but to make the cut accurately you need to divide the program into small points of 0.5 to 1 mm.Maybe if there is no way then you might know if there is any program to break an existing program into small points and run smoothing.
Program
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Martin84 -
November 15, 2020 at 11:25 PM -
Thread is Unresolved
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without seeing actual code, and some numbers we can only guess.
what is this smoothing function you mentioned? do you mean approximated motions?
what kind of KUKA training did you have?
what kind of path accuracy you expect? is your robot even capable of it? robots are not as rigid as CNC. KRC2 is old and there may be wear and tear, backlash etc. KRC2 without SPLINE is even older so any concern about robot arm accuracy will be even more significant.
I don't see how is someone supposed to teach manually path where points are so dense, this may be possible... but it is certainly impractical. interpolating path is possible and rather straight forward if you are sufficiently familiar with KRL.
if approximated path between two long segments is not good enough for you, split the segments in half and adjust points. if approximating corners of two linear segments, replace the approximated portion by CIRC (approximated)
also check orientation control... for smooth transitions it should not be changing between approximated motion segments.
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Smooth motion with constant velocity without splines is kind of hard to do. Near impossible, if distances between sequential points are smaller than 5-6 mm.
You could try doing multiple passes over the same points with different trajectories, albeit that would increase cycle time significantly and the trajectories would have to be prepared on some cad program. Also, as panic mode mentioned, due to the robot's wear reaching wanted precision might be too hard.
In the end the project with the hardware in question might not be feasible. The robot might just have to be relegated to simple pick and place work (palletizing).
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FrameLib is a neat library that among other things allows interpolation and makes experimenting quicker. Unfortunately it seem to be no longer accessible so to here it is again.
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How should I use framelib, some hints.
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How should I use framelib, some hints.
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How should I use framelib, some hints.
From the looks of it, you should start with expert KRL programing part of the manual
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the program shows just inline forms were used. and really badly...
motion speed is not just programmed into motions, program is also peppered with override and the value jumps all over the place.
how is one to expect constant speed with:
$OV_PRO=100
$OV_PRO=100
$OV_PRO=6
$OV_PRO=40
$OV_PRO=6
$OV_PRO=40
$OV_PRO=6
$OV_PRO=40
$OV_PRO=6
$OV_PRO=40
$OV_PRO=6
$OV_PRO=40
$OV_PRO=6
$OV_PRO=100
$OV_PRO=6
$OV_PRO=100
$OV_PRO=6
$OV_PRO=100
$OV_PRO=6
$OV_PRO=100
$OV_PRO=6
$OV_PRO=100
$OV_PRO=6
$OV_PRO=100
$OV_PRO=10
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Panic mode, yes I know, ov_pro is on purpose.The first image presented the characteristics of point to point as I now performs robot.The second image shows what he wants to achieve, omitting the ov_pro variables.Second, how can I use framlib?
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well.... are you aware that inline forms have bunch of parameters including velocity and approximation? do you know how to make the changes?
it does not seem to be something you are aware of since you are apparently not using this, that is why you have to resort to abusing $OV_PRO and cranking up $ADVANCE to 5, yet only motions ever approximated are PTP and even there, value is only 1% so practically non-existent..
i would recommend KUKA training, as well as reading manual.
btw. you cannot have what you want even with spline. there are always possibilities that controller must reduce speed for whatever reason such as orientation change, too tight radius etc. and you program is full of short distance motions. so expecting PERFECTLY CONSTANT speed is completely unrealistic (except in special cases). but you should be able to easily get something close to it, like this and - with or without spline.