I´m using a KR6 R700-2, I tried to search in the forum and in the manual but I couldn´t find an answer.
So I´m programming this robot making moving points, some of them such as CIRC and LIN can be programmed setting the velocity you want your robot to be running with to a particular point.
The question is, when do I expect the robot to run at a certain speed if I for example run in AUT mode ?
Do I expect the programmed speed at 100% AUT mode? I Programmed some CIRC moviment at 0.3 mm/s but it look more like 1mm/s when running the robot at 50% in AUT mode.
The robot will have to paint some round object so I want to change speed if the customer want to, without touching the program but it´s very important that the robot run at the same speed while it´s painting indipendently of the speed the robot is set.
here is the CIRC moviments I talk about:
SPTP XP17 WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FP17), $BASE = SBASE(FP17.BASE_NO), $IPO_MODE = SIPO_MODE(FP17.IPO_FRAME), $LOAD = SLOAD(FP17.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT05), $APO = SAPO_PTP(PPDAT05), $GEAR_JERK[1] = SGEAR_JERK(PPDAT05), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
TRIGGER WHEN PATH = 0.0 DELAY = 0 DO xTaendMaling = TRUE
;FOLD CIRC P18 P19 CONT Vel=1 m/s CPDAT9 Tool[1]:SUGEHOVED_BASIS Base[3]:MALEKABINEN ;%{PE}
$BWDSTART = FALSE
LDAT_ACT = LCPDAT9
FDAT_ACT = FP19
BAS(#CP_PARAMS, 0.1)
SET_CD_PARAMS (0)
CIRC XP18, XP19 C_Vel C_Dis
;ENDFOLD
;FOLD CIRC P20 P21 CONT Vel=1 m/s CPDAT10 Tool[1]:SUGEHOVED_BASIS Base[3]:MALEKABINEN ;%{PE}
$BWDSTART = FALSE
LDAT_ACT = LCPDAT9
FDAT_ACT = FP19
BAS(#CP_PARAMS, 0.1)
SET_CD_PARAMS (0)
CIRC XP20, XP21 C_Vel C_Dis
;ENDFOLD
TRIGGER WHEN PATH = 0.0 DELAY = 0 DO xTaendMaling = FALSE
;FOLD CIRC P18 P19 CONT Vel=1 m/s CPDAT9 Tool[1]:SUGEHOVED_BASIS Base[3]:MALEKABINEN ;%{PE}
$BWDSTART = FALSE
LDAT_ACT = LCPDAT9
FDAT_ACT = FP19
BAS(#CP_PARAMS, 0.1)
SET_CD_PARAMS (0)
CIRC XP18, XP19 C_Vel C_Dis
;ENDFOLD
;FOLD CIRC P20 P21 CONT Vel=1 m/s CPDAT10 Tool[1]:SUGEHOVED_BASIS Base[3]:MALEKABINEN ;%{PE}
$BWDSTART = FALSE
LDAT_ACT = LCPDAT9
FDAT_ACT = FP19
BAS(#CP_PARAMS, 0.1)
SET_CD_PARAMS (0)
CIRC XP20, XP21 C_Vel C_Dis
;ENDFOLD
DAT file:
DECL LDAT LCPDAT9={VEL 0.10000,ACC 30.0000,APO_DIST 10.0000,APO_FAC 50.0000,AXIS_VEL 11.0000,AXIS_ACC 30.000,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}}}