Hello,
i do have a really strange problem and couldn't figure out the cause on my own yet.
My Setup is the following:
Agilus 2 KR10 R1100 using a KRC5 Micro as Controller. The Controller is connected to a Siemens Safety-PLC (via ProfiSafe). This PLC is also exchanging simple non-safety rated signals with another PLC.
The robot is using SafeOperation for protected spaces and max. allowed cartesian speed.
The robots max. cartesian speed is set to 700mm/s. This value also equals the reduced speed.
The program sets the speed for linear movements to $vel.cp=0.6 (600mm/s).
So I tested my application and everything works fine. The robot executes its simple program with v=600mm/s as expected (checked with $vel_act).
After a restart of the system 1hour later, I started my program in AUT again for the final test and the Agilus didn't move faster than v=200m/s, although AUT is on 100%.
I didn't change anything in the software in the meanwhile (Neither PLC nor Robot).
I checked all overrides I know ($OV_PRO, $OV_ROB, $SR_VEL_RED, $VEL_RED) disabled "Breaking near protected spaces", changed max. cartesian velocity & reduced velocity values. Nothing of it worked.
I also checked if there's some unwanted signals coming from the PLC but everything is in order - these should be seen on the robot anyways. Obviously I also checked the robot program multiple times.
The protected spaces are also not violated and the robot is not even moving close to them according to space visualization.
So it seems there is an Override somewhere but I can't find it! There is also no message displayed or anything.
As it worked before every time correctly with the exact same setup, I really don't get what's causing this.
Hope you can help me with this strange problem.
Thank you!