KUKA KRC 4 Movement velocity of PTP movement T1 vs. T2/Auto

  • Hello all,


    I am new to this forum and I would be happy to hear your advise.


    I programmed two different movements: one LIN with a speed of 0.3 m/s and one PTP with speed set at 12%.

    When performing the movements in T1, I experience the LIN speed as appropriate and the PTP movement as very slow (so slow that it steals my time).

    When performing in T2/Auto, the LIN movement is still okay, but the PTP movement is much much faster.


    I'm struggling with two things here:


    I understand that in T1 speed is limited to "safe" values. In my example, the LIN movement speed seems to be "allowed" wehereas the PTP-Movement speed is very much slowed down compared to T2/Auto. So how does this limitation of speed in T1 work?


    How do you work with that? I don't want to set higher speeds than 12% (in AUTO) for the PTP movement in order to be safe with the mounted equipment, but 12% is to slow in T1 (which will be necessary to be performend several times a day.)


    Please let me know, if you need additional information, e.g. code or settings. And thanks in advance for your answers!


    Kind regards

    Gregor

  • MOM

    Approved the thread.

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