Hi all!
Next week I will travel again to a customer company to finish the pending job. I will commission another new KRC4 + KSS 8.6.8 robot.
Some time ago I saw that PTP movements in manual mode got super slow, LIN movements in the other hand are as fast as usual.
I use this function to set the PTP speeds:
GLOBAL DEF mSpeedPTP(rSpeed : IN)
REAL rSpeed
INT i
IF ((rSpeed >= 1) AND (rSpeed <= 100)) THEN
FOR i=1 to 6
$VEL_AXIS[i] = rSpeed
ENDFOR
ENDIF
END
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In customer programs they call mSpeedPTP(100.0) and even doing this PTP movements are very slow.
Am I doing something wrong? have they changed something since older KSS versions?
(That routine has been used since KRC2 times and in #Ex or #AUT modes it works like usual... Only in T1 (and maybe in T2) modes PTP movements are super slow. (more than usual I mean and much more than LIN movements).
Do you know of any way I could increase those T1 PTP speeds?
As always thank you in advance.