VEL_AXIS and ACC_AXIS

    • New

    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,

    • New
    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
    • New

    Thank you for the response, the thread was really helpful. I just have a couple of questions.

    I was trying your tip of using SPTP but I get the same results with or without $SPL_VEL_RESTR. Also the accelerations when using PTP are much slower compared to PTP.

    Finally when you said to record the axis acc, if I am thinking correctly, this would only work if we kept the same conditions because if we changed the vaues of the axis or the velocities than the resulting acceleration would change. On the other hand this method can be used for the axis velocities because they don´t depend on the value of the axis. Is this correct?

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