Hi,
I have an application (inspection) where I want to execute a complex path that was planned offline with a constant speed. However, there is a section of the path where the robot must slow down.
I tried using Spline block and it seems to perform pretty well except for segment done at lower velocity. Using the trace feature of kukasim, I see that the TCP does not slow down at all.
Code
BAS (#VEL_PTP,2.719)
PTP XP36
SPLINE
SPL FORWARD(XP37) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP38) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP39) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP40) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP41) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP42) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP43) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP44) WITH $VEL = SVEL_CP(0.095, , )
SPL FORWARD(XP45) WITH $VEL = SVEL_CP(0.095, , )
SPL FORWARD(XP46) WITH $VEL = SVEL_CP(0.068, , )
SPL FORWARD(XP47) WITH $VEL = SVEL_CP(0.068, , )
SPL FORWARD(XP48) WITH $VEL = SVEL_CP(0.068, , )
SPL FORWARD(XP49) WITH $VEL = SVEL_CP(0.068, , )
SPL FORWARD(XP50) WITH $VEL = SVEL_CP(0.068, , )
SPL FORWARD(XP51) WITH $VEL = SVEL_CP(0.068, , )
SPL FORWARD(XP52) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP53) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP54) WITH $VEL = SVEL_CP(0.095, , )
SPL FORWARD(XP55) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP56) WITH $VEL = SVEL_CP(0.095, , )
SPL FORWARD(XP57) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP58) WITH $VEL = SVEL_CP(0.095, , )
SPL FORWARD(XP59) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP60) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP61) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP62) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP63) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP64) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP65) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP66) WITH $VEL = SVEL_CP(0.096, , )
SPL FORWARD(XP67) WITH $VEL = SVEL_CP(0.096, , )
ENDSPLINE
WAIT SEC 1.0
BAS (#VEL_PTP,2.368)
PTP XP68
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Anyone have experience with Spline? Is this suppose to work?