Hi,
I'm currently working on a KR16 KRC5, Glueingapplication.
The robot I'm working with is gluing a "C"-shaped string on a rectangular object.
This is the Speeddata i'd like to use.
DECL LDAT vAppl_LIN={VEL 1.00000,ACC 60.0000,APO_DIST 5.00000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0,CB {AUX_PT {ORI #CONSIDER,E1 #CONSIDER,E2 #CONSIDER,E3 #CONSIDER,E4 #CONSIDER,E5 #CONSIDER,E6 #CONSIDER},TARGET_PT {ORI #INTERPOLATE,E1 #INTERPOLATE,E2 #INTERPOLATE,E3 #INTERPOLATE,E4 #INTERPOLATE,E5 #INTERPOLATE,E6 #INTERPOLATE}}}
First I'm reading the m/s from the PLC and scales it to mm/s.
PLCSpeed = giPLC_Speed*0.001 ; This is the speed i'd like to use when the nozzle have stabilized and released it's startpressure.
StartSpeed = (PLCspeed * 3) ; This is the speed i'd like to use from the beginning because of the pressure built up in the nozzle.
; Initialize
$ADVANCE = 5
$BWDSTART = FALSE
LDAT_ACT = vAppl_LIN
BAS(#CP_PARAMS, vAppl_LIN.VEL)
$VEL.CP = StartSpeed
; To Startposition
LIN Offset(XCStr_P1,0,0,50) C_DIS C_DIS
LIN XCStr_P1
; Apply Glue
TRIGGER WHEN PATH = -50 DELAY = 0 DO doPLC_StartGlue = TRUE
LIN XCStr_P2 C_DIS C_DIS
LIN XCStr_P3 C_DIS C_DIS
$VEL.CP = PLCSpeed ; Lower Speed
LIN XCStr_P4 C_DIS
TRIGGER WHEN PATH = -50 DELAY = 0 DO doPLC_StartGlue = FALSE
LIN XCStr_P5 C_DIS
The problems I'm having is:
1. The Robot doesn't seem to adapt the Speed-set at the "; Lower Speed" - Line.
2. The Robot stops a little bit between P2 and P3. (It's not a approximationproblem because i've tried $STOPNOAPROX = TRUE)
What's the "correct" and "smoothest way" to lower speed during a continious movement?
Is it any .BAS-function I'm missing out?
Best regards!