Hi,
I have been playing with spline motion and when I restart the robot in the middle of a spline block after I manually stopped it(like the release of start in T2 or stop button in auto), it accelerates too fast and gets a ''Command gear torque E1'' error.
Our robot is a KR210 R3100 Ultra mounted on a KL4000S using KRC4 - 8.3.25
I have played around with every acceleration settings created in a spline but it doesnt seem to affect this sudden acceleration. There has to be a way to resume a motion with a gradual acceleration right ?
Here is what I made. I initially created a spline with the inline form to have a template and then added my coordinates that came from RoboDK.
Thought I missed something so I recreated the same Spline with the inline form and had the same disappointing results.
DECL FDAT FQRO={TOOL_NO 3,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LDEF={VEL 2.00000,ACC 50.000,APO_DIST 150.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 50.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 50,EXAX_IGN 0}
SPLINE WITH $VEL= SVEL_CP( 2, , LDEF), $TOOL= STOOL2( FQRO), $BASE= SBASE( FQRO.BASE_NO), $IPO_MODE= SIPO_MODE( FQRO.IPO_FRAME), $LOAD= SLOAD( FQRO.TOOL_NO), $ACC= SACC_CP( LDEF), $APO= SAPO( LDEF), $ORI_TYPE= SORI_TYP( LDEF), $CIRC_TYPE= SCIRC_TYP( LDEF), $JERK= SJERK( LDEF)
SPL {X 348.813,Y 3996.620,Z 1960.010,A -178.882,B 39.828,C -90.311,E1 6000.00000}
STOP WHEN PATH = 500 IF diPressOpen==FALSE
SPL {X 348.813,Y 4496.620,Z 1960.010,A -178.882,B 39.828,C -90.311,E1 6500.00000}
SPL {X 1159.960,Y 5381.100,Z 1938.510,A -179.183,B 29.722,C -89.739,E1 7200.00000}
SPL {X 2515.230,Y 6000.490,Z 1910.150,A -179.776,B 3.173,C -89.012,E1 8000.00000}
SLIN {X 2992.060,Y 6000.990,Z 1909.290,A -179.852,B -1.542,C -89.015,E1 8000.00000}
SPL {X 3334.990,Y 6000,Z 1590.730,A -179.994,B -9.997,C -90.001,E1 8000.00000}
TRIGGER WHEN PATH=0 DELAY=0 DO goVacuum = 7
SLIN {X 3304.99512,Y 6001.01123,Z 1512.92749,A 179.438324,B -9.88267326,C -90.2579117,E1 8000.00000}
ENDSPLINE
