Hi All,
KUKA KR20 R1810-2
KSS 8.3.39
My aim is to get a constant speed for a 3d printing toolpath using a rectangular nozzle (the nozzle needs to be oriented in the direction of travel. For testing purposes the toolpath is a rectangle, in every corner the tool (and axis 6 as the nozzle and axis 6 are parallel) need to rotate 90. All the targets are equidistant (about 5cm) the corner targets are rotated 45 degrees in relationship with the targets making up the edges. The robot always slows down when during this rotation, this is visually observable and confirmed when plotting $VEL_ACT. I would understand this happening if the programmed speed was high but it is relatively slow ($VEL.CP = 0.10000). My feeling is the robot should physically be able to execute the path at a constant speed. I have tried the same toolpath without the rotation in the corners and the robot has no problem maintaining a constant speed.
I have tried:
LIN motions with C_VEL and APO.CVEL=100 (see snippet below)
$ACC.CP = 0.10000
$VEL.CP = 0.10000
$VEL.ORI1 = 400
$VEL.ORI2 = 400
$ACC.ORI1 = 400
$ACC.ORI2 = 400
$APO.CPTP = 100.000
$APO.CVEL = 100
HALT
PTP {A1 0.00000,A2 -90.00000,A3 90.00000,A4 0.00000,A5 90.00000,A6 0.00000} C_PTP
LIN {X -192.000,Y 321.000,Z 0.000,A 180.000,B 0.000,C 180.000} C_VEL
LIN {X -192.000,Y 121.000,Z 0.000,A 180.000,B 0.000,C 180.000} C_VEL
LIN {X -144.000,Y 121.000,Z 0.000,A 180.000,B 0.000,C 180.000} C_VEL
LIN {X -96.000,Y 121.000,Z 0.000,A 180.000,B 0.000,C 180.000} C_VEL
LIN {X -48.000,Y 121.000,Z 0.000,A 180.000,B 0.000,C 180.000} C_VEL
LIN {X 0.000,Y 121.000,Z 0.000,A 180.000,B 0.000,C 180.000} C_VEL
LIN {X 48.000,Y 121.000,Z 0.000,A 180.000,B 0.000,C 180.000} C_VEL
LIN {X 96.000,Y 121.000,Z 0.000,A 180.000,B 0.000,C 180.000} C_VEL
LIN {X 144.000,Y 121.000,Z 0.000,A 180.000,B 0.000,C 180.000} C_VEL
LIN {X 192.000,Y 121.000,Z 0.000,A 180.000,B 0.000,C 180.000} C_VEL
LIN {X 240.000,Y 121.000,Z 0.000,A 135.000,B 0.000,C 180.000} C_VEL
LIN {X 240.000,Y 72.600,Z 0.000,A 90.000,B 0.000,C 180.000} C_VEL
LIN {X 240.000,Y 24.200,Z 0.000,A 90.000,B 0.000,C 180.000} C_VEL
LIN {X 240.000,Y -24.200,Z 0.000,A 90.000,B 0.000,C 180.000} C_VEL
LIN {X 240.000,Y -72.600,Z 0.000,A 90.000,B 0.000,C 180.000} C_VEL
LIN {X 240.000,Y -121.000,Z 0.000,A 45.000,B 0.000,C 180.000} C_VEL
Display More
LIN and CIRC motions with C_VEL
spline blocks with SLIN, SPL (ideally i would like to avoid using spline blocks as the final toolpath will have +20000 targets and I believe that this is to large for spline blocks.
For all the above I have set VEL.ORIX and ACC.ORIX to values that should be high enough. I have checked config.dat and machine.dat and all the VEL and ACC values look reasonable. ADVANCE is set to 5.
I have seen some mentions that $JERK should be adjusted to resolve this but this doesn't seem the be well documented in the kuka manuals I have. Additionally from the little documentation it seems this only works for splines.
Any suggestion would be welcome.
Best,
Vince