Hello all,
I am working with a KR22 R1610, KSS8.3.38 on Kuka.Sim Pro. I am trying to use SLIN motions with approximation to progressively increase the acceleration before reaching the final velocity, the code below serves as an example.
Code
$SPL_VEL_MODE = #CART
SLIN {Y -1300}
$APO.CDIS = 10
$ACC.CP = 0.04
$VEL.CP = 0.1
SLIN {Y -1270} C_DIS
$ACC.CP = 0.06
SLIN {Y -1255} C_DIS
$ACC.CP = 0.08
SLIN {Y -1235} C_DIS
$ACC.CP = 0.1
SLIN {Y -1100}
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The problem with this appproach is that, in some cases the acceleration drops before transitioning to the next acceleration and I don´t understand why this is happening.
Thank you all