pauses between LIN/CIRC moves

Hi everyone!

I'm new here

I would like to fix a problem with linear and circular movements.

This movements are generated by a software CAM (Sprutcam) and upload in Kuka robot (KR C2).

The movements are something like this...

...

LIN {X 460.459, Y -90.397, Z 208.034, A -37.354, B 50.352, C -134.015} C_DIS

CIRC {X 461.292, Y -88.808, Z 201.706, A -37.354, B 50.352, C -134.015},{X 461.958, Y -85.961, Z 195.815, A -37.354, B 50.352, C -134.015} C_DIS

CIRC {X 460.714, Y -82.636, Z 194.563, A -37.354, B 50.352, C -134.015},{X 458.72, Y -81.113, Z 197.37, A -37.354, B 50.352, C -134.015} C_DIS

LIN {X 458.657, Y -81.243, Z 197.598, A -37.354, B 50.352, C -134.015} C_DIS

...

But between movements we can see little pouses and decelerations.

In link below you can see what happens

https://drive.google.com/file/d/1TD6-vg_SWIYfV65N3cdkqu4vXQTxwIRv/view?usp=share_link

Someone can help me please?

Thank you

Thank you for answer Mentat

But if I use a large APO.CDIS I start to have imprecision in the cornes of my geometries.

Quote from panic mode

code snippet in original post only shows few motion points but skips the most important part - how and what motion parameters are initialized. what is value of $ADVANCE?

thank you

$ADVANCE is set to 5

this is my initial parameters ...

$VEL.CP = 1

$VEL.ORI1 = 100

$VEL.ORI2 = 100

$ACC.CP = 1

$ACC.ORI1 = 100

$ACC.ORI2 = 100

$ADVANCE = 5

$APO.CDIS = 1

$ORI_TYPE = #VAR

$TOOL = {X 432.967, Y 0.558, Z 207.046, A -89.24, B 66.306, C -89.305}

$BASE = {X 2516.382, Y 17.498, Z 1205.042, A 45.325, B -0.585, C -0.518}

PTP {A1 0.000, A2 -140.000, A3 90.000, A4 0.000, A5 50.000, A6 0.000}

PTP {A1 -0.343, A2 -106.973, A3 105.049, A4 -15.628, A5 75.600, A6 136.874}

$VEL.CP = 0.5

LIN {X -560.396, Y 284.76, Z 346.441, A 0, B -88.205, C 90} C_DIS

LIN {X -560.396, Y 250, Z 346.441, A 0, B -88.205, C 90} C_DIS

LIN {X -560.396, Y 150, Z 346.441, A 0, B -88.205, C 90} C_DIS

LIN {X -560.062, Y 150, Z 346.161, A 0, B -88.199, C 90} C_DIS

CIRC {X -559.52, Y 150, Z 340.535, A 0, B -87.979, C 90},{X -553.894, Y 150, Z 341.077, A 0, B -88.093, C 90} C_DIS

CIRC {X -554.436, Y 150, Z 346.703, A 0, B -88.312, C 90},{X -560.062, Y 150, Z 346.161, A 0, B -88.199, C 90} C_DIS

LIN {X -558.133, Y 150.1, Z 348.655, A 0, B -88.332, C 90} C_DIS

...

Quote from panic mode

increase this value

$APO.CDIS = 1

don't be afraid to make it generous - motion planner will automatically reduce actually used approximation distance when points are close.

Thanks for help but if i increase this value i have problems with some geometries like a simple square when i have to keep the sharp corners for example.

There is some parameter that I can control the deceleration between LIN/CIRC movements?

In advantage, I have doubts about the ACC.CP parameter.

I noticed that we can adjust between 1 and 10, but I don't understand how it actually works

Maybe this parameter is related to my problem.

Quote from Leon

If it helps, you can also use C_VEL instead of C_DIS. C_DIS sets smoothing at a certain distance of the point. C_VEL try's to keep a certain speed through a point.

This is not a miracle worker, like Panic mode said you can not bend the laws of nature. but during some milling operations i find it easier to use. C_DIS I only use when i need a specific radius.

Hmmmm, it sound good Leon.

I'll try this and if it works well I'll let you know.

Thank you very much!!!

Hi everyone

I would like to report the results of my tests change parameter APO.CDIS and C_DIS per APO.CVEL and C_VEL.

The moves are much more smooth and the pouses between movements almost disappeared.

Thank you so much Leon, it really helped me