I am using KUKA KRC4 KSS8.3.
I have a linear motion between 2 targets that have the same point with different orientations.
How do I limit how fast the tool reorients?
$VEL.CP doesn't seem to work. I am still exceeding the max velocity.
I am using KUKA KRC4 KSS8.3.
I have a linear motion between 2 targets that have the same point with different orientations.
How do I limit how fast the tool reorients?
$VEL.CP doesn't seem to work. I am still exceeding the max velocity.
$VEL.ORI and $VEL.ORI2
Thank you!
I couldn't find these in any documentation, but I see them not in the System Variables.
What is the difference between Rotation and Swivel? Is Swivel around the Z axis or is this something that can be set?
X-Axis. Can not be chosen. At least definitly not in V8.3. I think this has been changed quite recently. Probably V8.6 but I do not remember exactly.
Fubini
check pinned topic READ FIRST. it contains bunch of info including what are the key manuals and where to get them. System Variable manual does contain $VEL
Thank you!
I couldn't find these in any documentation, but I see them not in the System Variables.
What is the difference between Rotation and Swivel? Is Swivel around the Z axis or is this something that can be set?
I don't recall exactly, and I can't seem to find it detailed anywhere, but I think the one axis is dynamically defined by the linear motion path, and the other is defined orthogonally to it by some criteria.
In this screenshot, it's a CIRC motion, but I think the same rules apply. One of the $ORI.VEL limits applies to the t vector, and the other to, I think, the n vector. But I have to admit that's partly guesswork.
Swivel and Rotation is special type of orientation transistion that allows to reach any orientation on a half sphere by two degrees of freedom. Think about holding a pen on its tip between thumb and index finger in a fixed position. The pen itself is the fixed axis. Now you can either rotate the pen by moving thump and index finger against each other or turn/swivel it by moving your wrist.
Fubini