Hello,
We have two kuka robots and want to use one as a mobile lathe in function off the other one.
with the code below we can manage to let it spin endless at a variable speed.
however we would like to controll this speed in deg/sec. how would this be possible?
I looked up the command $VEL_C.ORI2 but this does not apply to an SPTP movement.
WHILE TRUE
SPTP_REL{A6 10} with $VEL_AXIS[6] = speedToUse, $APO.CDIS = 250.0 , $LOAD = LOAD_DATA[2] C_SPL
SPTP_REL{A6 10} with $VEL_AXIS[6] = speedToUse, $APO.CDIS = 250.0 , $LOAD = LOAD_DATA[2] C_SPL
SPTP_REL{A6 10} with $VEL_AXIS[6] = speedToUse, $APO.CDIS = 250.0 , $LOAD = LOAD_DATA[2] C_SPL
SPTP_REL{A6 10} with $VEL_AXIS[6] = speedToUse, $APO.CDIS = 250.0 , $LOAD = LOAD_DATA[2] C_SPL
ENDWHILE