I have a robot working with a KUKA 3-axis rotary weld table. I've managed to program the 2nd and 3rd axis on the rotary table to do uncoordinated motion when facing the operator such that the operator can hit a jog +/- button to adjust their table to make loading/unloading easier. I've done this via use of:
- $ASYNC_AXIS - Sets either E2 or E3 as asynchronous for the duration of the current program
- $ASYNC_AX#_P - Jog the asynchronous axis positive
- $ASYNC_AX#_M - Jog the asynchronous axis negative
- $ZUST_ASYNC - Enable jogging of the asynchronous axis
My problem now is with the velocity of the async, uncoordinated axis. The velocity refers to the jog velocity on the teach pendant (0-100%). Is there a variable that can modify this velocity, as $OV_PRO modifies the run velocity?
If not, is there perhaps a way to force the jog velocity to 100% on boot-up?
KR 16 L6