Hello,
I have a KUKA KR C60-3 with a DKP-400, KSS 8.5.7 HF1
I am expecting the external axis' motion to be approximated between each target. Instead, what's happening is some sudden moves.
I did check the manuals, but I couldn't find any information about the external axis approximation.
I am setting my base the following:
Code
BAS(#TOOL, I_numTool)
$BASE=EK(MACHINE_DEF[I_MACHIDX].ROOT, MACHINE_DEF[I_MACHIDX].MECH_TYPE, BASE_DATA[I_MACHIDX])
$ACT_BASE=I_BASENO
And my program is:
Code
$APO.CDIS = 0.25
$APO.CVEL = 100
$APO.CORI = 1.0
$APO.CPTP = 5.0
LIN { X 16.131, Y 12.310, Z 162.724, A 0.3467, B 88.1570, C 79.4302, E1 0.2300, E2 -0.2130, S 'B00010', T 'B001010' } C_DIS
LIN { X 14.139, Y 12.310, Z 162.600, A -0.0002, B 86.2799, C 79.2967, E1 -3.4911, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 14.139, Y -7.690, Z 162.600, A -0.0002, B 86.2799, C 79.2967, E1 -3.4911, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 12.145, Y -7.690, Z 162.470, A -0.0002, B 86.2799, C 79.2967, E1 -3.4911, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 12.145, Y 12.310, Z 162.470, A -0.0002, B 86.2799, C 79.2967, E1 -3.4911, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 10.152, Y 12.310, Z 162.341, A -0.0002, B 86.2913, C 79.2967, E1 -3.4796, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 10.152, Y -7.690, Z 162.341, A -0.0002, B 86.2913, C 79.2967, E1 -3.4796, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 8.160, Y -7.690, Z 162.179, A -0.0001, B 84.4979, C 79.2968, E1 -5.2731, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 8.160, Y 12.310, Z 162.179, A -0.0001, B 84.4979, C 79.2968, E1 -5.2731, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 6.172, Y 12.310, Z 161.987, A -0.0001, B 84.4979, C 79.2968, E1 -5.2731, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 6.172, Y -7.690, Z 161.987, A -0.0001, B 84.4979, C 79.2968, E1 -5.2731, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 4.183, Y -7.690, Z 161.795, A -0.0001, B 84.4979, C 79.2968, E1 -5.2731, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 4.183, Y 12.310, Z 161.795, A -0.0001, B 84.4979, C 79.2968, E1 -5.2731, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 2.196, Y 12.310, Z 161.596, A 0.0911, B 82.7857, C 79.2968, E1 -6.9853, E2 -0.0912, S 'B00010', T 'B001010' } C_DIS
LIN { X 2.195, Y -7.690, Z 161.592, A 0.0962, B 83.1666, C 79.2968, E1 -6.6044, E2 -0.0963, S 'B00010', T 'B001010' } C_DIS
LIN { X 0.213, Y -7.690, Z 161.345, A -0.0001, B 82.7857, C 79.2968, E1 -6.9853, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X 0.213, Y 12.310, Z 161.345, A -0.0001, B 82.7857, C 79.2968, E1 -6.9853, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -1.770, Y 12.310, Z 161.094, A -0.0001, B 82.7857, C 79.2968, E1 -6.9853, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -1.770, Y -7.690, Z 161.094, A -0.0001, B 82.7857, C 79.2968, E1 -6.9853, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -3.752, Y -7.690, Z 160.843, A -0.0001, B 82.8141, C 79.2968, E1 -6.9569, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -3.752, Y 12.310, Z 160.843, A -0.0001, B 82.8084, C 79.2968, E1 -6.9625, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -5.728, Y 12.310, Z 160.548, A -0.0001, B 81.1132, C 79.2968, E1 -8.6577, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -5.728, Y -7.690, Z 160.548, A -0.0001, B 81.1132, C 79.2968, E1 -8.6577, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -7.702, Y -7.690, Z 160.239, A -0.0001, B 81.1132, C 79.2968, E1 -8.6577, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -7.702, Y 12.310, Z 160.239, A -0.0001, B 81.1132, C 79.2968, E1 -8.6577, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -9.676, Y 12.310, Z 159.931, A -0.0001, B 81.1132, C 79.2968, E1 -8.6577, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -9.676, Y -7.690, Z 159.931, A -0.0001, B 81.1132, C 79.2968, E1 -8.6577, E2 0.0000, S 'B00010', T 'B001010' } C_DIS
LIN { X -11.646, Y -7.690, Z 159.600, A -0.0001, B 79.4742, C 79.2968, E1 -10.2967, E2 0.0000, S 'B00010', T 'B001011' } C_DIS
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Any help would be much appreciated