Hi,
We need to give a different speed value to the axis where the rotary table of the two-axis positioner without Kuka servos is located at some points in the robot program. To explain in more detail, while the robot moves linearly in a certain direction in the laser coating operation, a spiral coating occurs with the speed of the positioner. However, as it approaches the center, the coating thickness gradually thickens since the speed remains constant. Basically, I want to prevent this. I found a code like this after some research on the internet, but I don't know if it will work. I had previously tried to define a variable in the src file, but the program gave an error, maybe because I had not defined this variable in the config file.
...
DEF Set_Speed(REAL SPEED)
$PROFINET_OUT[2] = SPEED
...
...
LIN P3
Set_Speed(100)
...
Kuka Krc2 5.6.12 with Profinet
PLC Siemens S7-1200