Kuka Motion Blending

    Hi everyone,

    I have KUKA KRC4-8.6.4 Robot and Siemens S7-1200 PLC. My WorkVisual version is V6.0.16.

    I am doing pick and place motion in 5 station.

    My motion sorting is :

    1- PTP BefPickPress C_DIS

    2- LIN PickPress C_DIS

    3- LIN AftPickPress C_DIS

    4-LIN AwayPickPress C_DIS

    5- LIN BefPickPress C_DIS


    All C_DIS Parameter is 100. I have a problem about blending PTP to LIN Motion.

    When the robot is running 1.step PTP BefPickPress C_DIS, the robot move what I want. After then, When the robot is running 2.step LIN PickPress C_DIS, the robot immediately slower than PTP BefPickPress C_DIS. This slower motion can see clearly.

    How can I solve this problem ?

    I am waiting for reply, thank you.

    you are using legacy motion planner and CP motions are considerably slower.

    if you are not using inline forms you can compensate by cranking up acceleration. otherwise try new motion planner. this means replace every motion instruction by equivalent spline single motion

    (PTP -> SPTP, LIN -> SLIN...).

    PTP and SPTP are similar in performance but new motion planner is more aggressive so even CP motions are running near robot limits.

    another added benefit that you can use conditional stop for handshaking instead of WAIT FOR....

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    So your question is why is a LIN slower than a PTP with no information on how fast velocities you actually programmed. Difficult. Do not tell what you think you have programmed but share what you really have programmed. Also check if any messages come up and tell us. Try increasing velocity in LIN.

    Fubini

    If understood correctly, you would like all motions to be at the same speed.

    The problem is that Ptp motion speed is set as percentage, and Lin- in m/s.

    If these motions are constant, then I suggest lowering Ptp speed until it looks good enough.

    If you need to parametrize, you will need to set the ptp speed, by calculating axes difference between Ptp motion start and end position (don't forget the approximated motion), distance between those positions and then figure out the needed percentage setting from either the axis that turned the most or was the slowest. Don't forget axis acceleration - they don't go max speed from the start :smiling_face:


    Also, is it really "PTP BefPickPress C_DIS" and not "PTP BefPickPress C_PTP"?

    Mentat

    ;MotionParams(motion,speed,acc,apo,tool,base) ;comment

    MotionParams(#Linear,2,100,100,1,11)

    my acceleration is 100, approximation is 100. How can I change this acceleration and approximation for faster motion ? Should I increase this value or Should I decrease this value ?

    In PTP motion, should I C_PTP instead C_DIS for faster motion ?

    Hello, if you do not use inline forms, you can speed LIN moves by using system variables, for example the LIN move can be set also to 3m/s by using $VEL.CP parameter...

    by tweaking this variables i even managed along time ago that KR16-2 went out of the it's path, KRC2 couldn't hold the robot arm anymore on programmed path :grinning_squinting_face::grinning_squinting_face:...

    Code
    $VEL.CP=3      
$VEL.ORI1=400
$ACC.CP=8
$ACC.ORI1=800

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