Kuka SafeOperation 3.5

Hi all,

I'm working on a KR6 R700-2 controlled by a KR C4 (KSS 8.6) including SafeOperation 3.5 and GripperSpotTech 5.0.

I noticed that the robot isn't going to its max speed - where is it possible I have my points as SPTP motions and at 100%.

I disabled the safe monitoring within the safety config and there you go the robot was moving to speed that I'm more used to. To give you an idea, my cycle time is 5.88s with safe monitoring ticked and 3.02s with safe monitoring unticked.

The cartesian max velocity was set to 4m/s so I increased it to 10m/s (with slight adjustments to my tool spheres setting) but I don't measure any improvement.

Maybe I'm missing something and my experience with SafeOp is limited.

Any idea on what I could try?

Thanks in advance

It depends if you are using the interface X13 or the Ethernet Safety interface (See below extract from SafeOp 3.5 manual).