Hello everyone,
I need your expertise to solve a challenging issue with my KR12 + positioner. Despite my best efforts, I can't seem to make it move at the required speed.
Let me provide more context: I have successfully configured the positioner and robot, and have even created programs that take advantage of the positioner's rotational capabilities while the robot handles the Z movement. I'm talking about tasks like printing a large vase with the table turning and the robot moving up point by point.
However, the problem lies in the fact that, no matter what speed I set, the actual velocity (measured through $vel_act) never goes above 5mm/s. This is surprising, considering that I know the positioner's rotational axis can move much faster.
I've exhausted all of my own ideas and even reached out to Kuka for support, but nothing has worked so far. That's why I'm turning to you to help me understand what may be causing this limit. I'm programming with linear movements, and I'm eager to hear any insights or solutions you might have.
