Hello fellows,
we've got a new KUKA robot in our plant and it comes with KUKA.CNC,I've managed to install the package and successfully test few motions,it had worked as I expected,but during the motion,I couldn't retrieve the actual real time linear velocity of the TCP by watching the system variable $vel_act, I could watch it during traditional KRL mode.anyone has a thought on this?
That is normal. Kuka.cnc is compared to other option packages different. Robot is not really handled by KSS in cnc mode. The cnc package installs a third party NC controller inside the realtime robot os. With kuka.cnc you simply switch to the NC and back. Variables are not mapped into KSS which more or less is paused when running cnc mode.
So maybe kuka.cnc offers a different diagnose method for velocity, but I am not sure about this since I never really used it myself much. Never tried it but running trace for the drives might also work, since both controllers share the drivers for the drives.
thanks for your feedback,but $pos_act works as expected,could you specify running trace?is it a function in workvisual?
That is normal. Kuka.cnc is compared to other option packages different. Robot is not really handled by KSS in cnc mode. The cnc package installs a third party NC controller inside the realtime robot os. With kuka.cnc you simply switch to the NC and back. Variables are not mapped into KSS which more or less is paused when running cnc mode.
So maybe kuka.cnc offers a different diagnose method for velocity, but I am not sure about this since I never really used it myself much. Never tried it but running trace for the drives might also work, since both controllers share the drivers for the drives.
$TRACE. Should be explained in documentation. Can be configured with WorkVisual but also on the KSS. Also called Oscilloscope in KUKA manuals.
