I am trying to create a program that is able to smoothly execute a motion path generated by custom software and sent to the robot. I currently have a .sps file running that writes the desired points into an array of E6POS.
This function is working properly and we are able to populate all of the desired points into the array prior to executing any motion. Once the array is populated, I am wanting to execute a while loop to loop through all of the motion points.
Running this for loop, I am able to move to all of the desired points, however, the motion is quite jumpy, and smooth motion is desired. I believe what is causing the issue is the advanced program pointer, however, I'm quite stuck on how to edit the program to move smoothly. I was able to find a topic that somewhat addresses my issue, however in the example provided, it appears that the amount of points sent to the robot is a fixed amount, however, in this application the amount of points is variable.
Please let me know if more information is needed to help provide a solution. I am currently running KSS 8.5.8 on a KUKA KRC4 controller. Thank you.