hello everyone,
I’ve been diving into the System Integrator manual of our KR340R3330, controlled by a KRC4 (KSS 8.5.7), and trying to grasp the intricacies of its warm-up function. Through my readings, I’ve understood the roles of several parameters such as $WARMUP_TIME
, $WARMUP_RED_VEL
, $COOLDOWN_TIME
, $WARMUP_SLEW_RATE
, $WARMUP_CURR_LIMIT
, and $WARMUP_MIN_FAC
.
Currently, on my controller, the $WARMUP_RED_VEL
is set to false, which means that the warm-up function is disabled and there is no surveillance of motor currents during the 30-minute $WARMUP_TIME
.
I am interested in enabling this feature to protect the robot components after extended downtimes, especially when the robot has been idle for over 360 minutes. Is it enough to simply set $WARMUP_RED_VEL
to true, or do I need to create additional code to enable this feature effectively?
Any guidance or code examples would be greatly appreciated to ensure I'm on the right path to enabling and benefiting from this warm-up function.
Thank you in advance for your help!