Hello, I need a little guidance interpreting trace graphs in WoV.
I have a robot KR8 r1620 arc HW, KRC4 compact, KSS8.5.7.
I have wrote a simple program PTP motion A1 from 0 to 20 degrees, velocity 10%.
Did a trace for actual velocities:
Got this graph:
Simas
And what is your specific question?
Maybe why wanted axes velocities, but instead you traced the velocity of the motors. The motor is running with approx 475 revolutions per minute. So scale to deg/s, add gear ratio and axis coupling and you will get axis velocities in deg/s. Alternatively use the correct channel. NextGenDrive indicates Drives not axes. Axes are part of group KRC.
Fubini
you selected 6 axis to monitor. you chose RPMs are unit so this requires some conversion as axis speeds are normally in deg/sec.
actually you are monitoring drives (motors) so numeric value is pretty high because it is motor speed (before gearbox) and not the actual axis speed. gearing for your robot can be found in MADA.
as expected graph shows only one axis moving.
robot starts accelerating at 4800ms, reaches peak motor velocity of 475RPM at perhaps 5000ms, maintains it till about 5800ms then decelerates. it is unclear at what are the mode or program override.
475RPM is equivalent of 2850deg/sec
with gear ratio of 130.2857:1 that would be 21.875 deg/sec
at that speed 20deg travel will take about 1 sec (not accounting for accel/decel phase) which matches the graph.
you claim that programmed speed is 10x less than maximum.
maximum speed for this axis according to MADA is 4777deg/sec or some 218x higher. that means there are some other factors that further reduced speed 21.8x. usually this is safety controller, program override, T1 reduction etc.
