Hello
KR240 R2900, KRC4 , KSS 8.6.7, DKP 400 V1, Fronius ROB 5000.
I am working on 3d printing with above mentioned setup. I have trouble maintaining the speed.
The toolpath looks like a zigzag pattern, I am aware that the robot has to slow down at the corners to achieve 180 degree turns, but this speed deviation is way more when I include the external axes movements in the motion command (LIN) compared to when using robot axes alone.
In the attached example(test1) the robot speed varies between 0.004-0.09 even though the programmed speed is 0.01
- The robot and external axis motions are synchronized and mathematically coupled.
- The printed toolpath looks as intended.
In the attached example(test2) the robot speed varies between 0.008-0.009
- The robot and external axis motions are synchronized and mathematically coupled.
- The printed toolpath looks as intended.
The only difference is the movement of coupled external axes. The speeds mentioned above are observed through analog output as defined in the attached files.
Do the external axes movements restrict the print speed?
How do I achieve constant(almost) path speed while using external axes(DKP)?
I also purchased KUKA.CNC (did not use it yet), will it help to achieve better results?
Please let me know if I am missing any major steps or information here.
Thanks and Regards
SPK