VEL_AXIS and ACC_AXIS

    Hello everyone,

    I am working on Simulink with a KUKA KR22 R1610-2 and KRC 8.3.38. I am using PTP motions and I am having a hard time understanding how VEL_AXIS and ACC_AXIS work. For $VEL_AXIS when I use 100%, the constant speed is different from the one in $VEL_AXIS_MA. As for $ACC_AXIS from what I have been testing, it doesn´t seem to limit the maximum angular acceleration and I can´t find any logic in the way it affects the movement.

    Thank you for your time,

    Post

    RE: Approximating acceleration profiles for PTP motions

    […]

    There is no explicit bound for this. Since we are talking PTP moves here the limitations come from the robots dynamic model. The dynamic model restricts gear and motor torques. In this case $ACC_AXIS[] does not limit axis acceleration directly but the torque available to accelerate/decelerate each joint (the maximal values for torques are stored in robcor.dat inside the dyn_dat[] array. But the documentation of the dyn_dat values are a company secret of KUKA and not publicly available).…
    Fubini
    November 8, 2023 at 6:55 AM

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