Issue with $OV_PRO Command in Robot Program

    Hai Everyone,

    I have KUKA KRC2 with Version V5.5.16.

    I am reaching out to share an issue I've encountered while working on our robot program for filling materials onto trays from a machine.

    The problem lies with the $OV_PRO command, which we're using to adjust the speed of the robot at particular points along a straight line. Specifically, I need speed changes at four linear points (P1, P2, P3, and P4) in the program.

    I wrote my program as below,

    Code
    $OV_PRO = 30
LIN P1 CONT Vel = 2 m/s
LIN P2 CONT Vel = 2 m/s
$OV_PRO = 100
LIN P3 CONT Vel = 2 m/s
$OV_PRO = 30
LIN P4 CONT Vel = 2 m/s

    The issue arises because when the robot encounters the $OV_PRO command, there is a small pause before it moves to the next line in the program. This pause is causing a small delays in our operations. I am reaching out to the team to see if anyone has encountered a similar issue or if there are any suggestions on

    how we can avoid this pause ?while using the $OV_PRO command.

    Any insights or recommendations would be greatly appreciated.

    Thank you for your attention to this matter.

    Best regards,

    AD3MIN

    well simply don't use the $OV_PRO, because it is not supposed to be used like this. why don't you just change the velocity in the inline command from 2m/s to 0,6. that is how you are supposed change velocity.

    better would be to not use inline commands but just KRL. Then you can use "$vel.cp = 0.6" to set velocity

    Every problem has a solution, that isn't the problem. The problem is the solution.

    Hai Leon,

    Many thanks for the reply,I under stood that we can not use $OV_PRO for this purposes

    But I really don't understand how to use that $vel.cp do you mean instead of $OV_PRO use $vep.cp?

    Is that something like what I wrote below?

    Code
    $VEL.CP=0.6
LIN P1 CONT Vel = 2 m/s
LIN P2 CONT Vel = 2 m/s
$VEL.CP= 2
LIN P3 CONT Vel = 2 m/s
$VEL.CP= 0.6
LIN P4 CONT Vel = 2 m/s

    In principle yes. But since it looks like you use inline forms this will not work because the 2 m/s in the inline form will overwrite your vel.cp with its 2 m/s. So you should change the value of 2 m/s inside the inline form to the desired velocity. Alternatively do not use inline forms at all and write plain krl.

    Fubini

    simple answer yes. Inline forms also use KRL but are made to be user friendly (so usually you don't see the actual code). Working with straight KRL without the inline forms looses that user friendliness but you will get a lot more in return if you spend the time learning how to write it.

    check the expert programming manual in the manuals section.

    Every problem has a solution, that isn't the problem. The problem is the solution.

    Just use those inline forms like you already did, and change the speed from 2 m/s to the speed you want.

    Don't be confused about mentioned plain KRL. For simple movements and beginners (I think you are beginner) it is the best choice to use those inline forms like you did.

    You can touch up them very easy, if you use plain KRL you can't touch up positions unless you have option 'expert tech'.

    Dear Leon & Hermann

    Thank you so much for your feedback, yes I am beginner with kuka . It is a new new information for me ,which will help me moving forward.

    Is 'expert tech' don't come along with Robot? Do we need additional purchase for that? How can I know whether our Robot has 'expert tech'

    Quote from AD3MIN

    Is 'expert tech' don't come along with Robot?

    No, its is a add on you can buy from kuka.

    i agree with Hermann, stick with the inline forms for now and change the speed there. But if you have the time i would advice to do some reading in the manuals. Training by kuka would be best if there is time and budget for that.

    Every problem has a solution, that isn't the problem. The problem is the solution.

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