I have been trying to lower the robot acceleration to get smooth starts and stops on PTP motion (inline form).
By smooth I mean it should be smooth for someone standing on the TCP.
So far, I have tried
bas(#acc_ptp, x) with x from 0.1 to 100 %
acc={cp 5.0, ori1 x, ori2 x) with x from 100 to 500
acc.ori1 and acc.ori2 from 100 to 1000
acc_axis[1]=x from 1 to 100
but none of them changes anything, neither at sight nor by feeling it from the TCP.
I also saw a reference to a variable called raise_time in the file R1\Mada\$machine.dat but I could not find it in the file. What is this variable ?
Has anyone any other idea on how to solve this ?
I use Kuka robot KR 500-3 with KRC 8.2.20 on KSS 8.2.126.
The code is here below:
;ENDFOLD (USER INI)
;ENDFOLD (INI)
relpos={X 0, Y 0, Z 0, A 0, B 0, C 0}
;FOLD PTP HOME Vel=25 % DEFAULT;%{PE}%R 8.2.20,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:25, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,25)
$H_POS=XHOME
PTP XHOME
;ENDFOLD
;FOLD PTP HOME_UP Vel=25 % PDAT4 Tool[1]:test Base[0];%{PE}%R 8.2.20,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME_UP, 3:, 5:25, 7:PDAT4
$BWDSTART=FALSE
PDAT_ACT=PPDAT4
FDAT_ACT=FHOME_UP
BAS(#PTP_PARAMS,25)
PTP XHOME_UP
;ENDFOLD
;FOLD PTP P4 Vel=10 % PDAT8 Tool[1]:test Base[0];%{PE}%R 8.2.20,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P4, 3:, 5:10, 7:PDAT8
$BWDSTART=FALSE
PDAT_ACT=PPDAT8
FDAT_ACT=FP4
BAS(#PTP_PARAMS,10)
PTP XP4
;ENDFOLD
;PLEASE INSERT MOVEMENT HERE