Hi all, working on a kuka kr240 r2900 ultra c running on KSS 8.3, I have a PTP_axis movement from point A to point B, I'd like to have it ramp up speed from point A to reach maximum velocity then slow again being reaching B for a smooth movement, what would be the ideal way of achieving this. I thought I could use $ACC_AXIS[x], but it seems to slow the whole path..?
Variable Speed over PTP path
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iiQKA -
June 13, 2021 at 5:13 AM -
Thread is Unresolved
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This highly depends on the actual path.
If you decrease all values of $acc_axis[] and one of the axis has only a very small way to move, then the complete movement is affected very much.
If you need the exact stop at position B I don't see a different possibility to make the movement smoother. If the motion will continue to position C use approximation parameter like c_dis or c_vel.
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I don't require the exact stop position, more just the gentle decrease of speed in this use case.
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Why not simply tune the Acceleration setting in the inline form? If this is a single-point motion, it should be possible to tune the accel such that the the velocity/time profile becomes triangular rather than trapezoidal.
(from OrangeEdit):
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Good idea. I'll test it today. I've been using time blocks..