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