Hello,
I have a tool I am simulating in Kuka Sim that has a 7th rotary axis on it. The desired TCP tracks with this 7th axis with an offset from the axis of rotation (so it affects two linear axes and one orientation axis). However this will not be possible in the real system as Kuka doesn't support on-tool 7th axes... oh well. To get around this I am using the "dynamic TCP" to get the correct poses then switching to the Flange TCP for the actual move position.
I am trying to generate a spline motion that moves the robot using the Flange TCP and also changes the 7th axis angle (which is directly defined). However I am running into some errors.
I was told by Kuka to disable Kuka RCS as it does not support on-tool axes, so I am using the Integrated Controller.
I setup the Spline motion with the waypoints (15x of them) and set the motion type to SPLINE. This produces jerky motion start-stop similar to a number of linear or PTP moves.
To get smooth motion I selected; Blending: On, Approximation distance: 0 and it failed with the following errors while running the sim:
KR 10 R1100-2 (integrated) Simulation was paused due to an interpreter stop.
KR 10 R1100-2 (integrated): CSPL not supported for none KUKA RRS.
I tried setting the Approximation distance: 0.1, same errors.
I tried setting the Approximation distance: 1.0, same errors.
My desired output is smooth motion that passes through each waypoint at a constant velocity throughout the spline and moves the external axis in sync (external axis angle is defined at each waypoint).
Do I need Kuka RCS on to do this? Is there something I am completely misunderstanding here? Any help would be appreciated!
