I'm trying to find a way to change the velocity with triggers during an SLIN path so I don't have to create multiple points just to change the velocity.
Is this possible or am I asking for too much?
KSS 8.6.11
KRC4
KR120 R3100
I'm trying to find a way to change the velocity with triggers during an SLIN path so I don't have to create multiple points just to change the velocity.
Is this possible or am I asking for too much?
KSS 8.6.11
KRC4
KR120 R3100
Changing the programmed velocity is possible before the start of the LIN movement.
To do this the velocity values in the respective LDAT params should be written before through a separate function and then the LIN/SLIN movement should be called.
This requires advanced KRL programming skills and setting wrong values can make robot perform unpredictable movements.
An alternative could be to play around the override values ($OV_PRO).
By setting a reduced override on specific condition can reduce the velocity of the movement.
Changing the programmed velocity is possible before the start of the LIN movement.
To do this the velocity values in the respective LDAT params should be written before through a separate function and then the LIN/SLIN movement should be called.
This requires advanced KRL programming skills and setting wrong values can make robot perform unpredictable movements.
An alternative could be to play around the override values ($OV_PRO).
By setting a reduced override on specific condition can reduce the velocity of the movement.
What I'm trying to do is to change the velocity during the SLIN Movement using triggers.
dunno if $VEL_APPL is available on kss 8.6 (it exists atleast on kss 8.7) but that is one possibility. Otherwise your only option is modifying $OV_PRO which most often is not advisable.
This is really strange from KUKA.
SI document released in 2022 doesnot have info about $VEL_APPL whereas one from 2023 has.
Attaching images for reference
dunno if $VEL_APPL is available on kss 8.6 (it exists atleast on kss 8.7) but that is one possibility. Otherwise your only option is modifying $OV_PRO which most often is not advisable.
It appears that it does exist, I'll try to implement it, thank you