Hi eveyone,
my equipment:
- krc4
-kss 8.6.7
-microcontroller ("safe PLC")
- safety Laser Scanner
- SAfeOPeration 3.5
Im trying to reduce the speed when someone invade the warning zone. Im using a safety output of the scanner to activate the workzone where the robot reduce the speed. This is working but if the robot goes to the 100% in automatic and it is inside of the workzone and i activate the scanner, the robot stops.
the error message: cartesian velocity exceded at workspace.
this hapen if the signal is acitvated and the robot is in the trayectory between points. but if it is activated just when it reaches at the point (the robot usually stops for a short time) it does reduce the speed to reach the next point (inside of the workspace).
anyone know how to set it up in such a way that it doesn't stop?
I have also noticed that the robot stops when it reaches the edge of the workspace and it is activated ... in the configuration i removed the option of "stop at the edges" ... does anyone know why it still stops?