Kuka CNC G00 and G01 Override

    • New

    Hi guys,

    In Display->CNC->Technology functions, there is a G00 override and a G01 Override slider.

    I'm having trouble getting an image to embed (yep I'm a noob) so a link to my google drive shows the page below

    KukaCncTechFunc.jpeg


    Every CNC I've ever used has allowed for dynamic override, and from the pendant, I can do this.

    What I want to be able to do is link this to a pot or analog input or variable on the field bus.

    Everything else on this page has variables attached.

    Is it possible to link to these two variables?

    I know I can use $OV_PRO, but that will override both, and I'd rather not do that.


    Stretch goal, is it possible to have a dynamic Zero-offset managed in the same way?

    Thanks for your help.

    Hamish

    Edited 2 times, last by Hamish Lucas (June 5, 2025 at 3:18 AM).

  • Fubini June 5, 2025 at 4:11 AM

    Approved the thread.
    • New

    The issue is, KUKA.CNC is a pretty rare beast, so the experience base is thin -- I've never used it, for example. It's also less "hackable" than regular KRL, so "under the hood" knowledge is even rarer.

    My knowledge of G00 and G01 is also only academic -- AIUI, G01 is the speed used for actual cutting, while G00 is for "air" moves. The closest analog in KRL would be LINmotions vs PTP motions, but it's not quite that simple. For one thing, does your GCode contain G00 and G01 commands? And how is KUKA.CNC translating them into robotic motions? Does it execute every G00 as a PTP, and G01s as LIN types? Given how PTP motions naturally "arc", that might not be safe -- KUKA.CNC might be executing every G0x as a LIN (or string of LINs).

    You could try adjusting the PTP motion velocity and the CP motion velocity separately, but I have a suspicion that KUKA.CNC will be re-writing those variables every time a G0x command is encountered, so you'd be in a position of the background task fighting with the foreground.

    • New

    Kuka.cnc is not really kuka standard. It is a second NC controller (ISG Kernel) from isg Stuttgart added to the kuka system. So interpretation of the Gxx commands and sampling of them runs completely inside the NC controller. This includes robot model. From KUKA side basically only some safety features and the drives are used. So I am not sure if KUKA system variables like $ov_pro have an effect at all. Everything is more similar to RSI. Maybe looking up isg NC controller manuals helps how Gxx commands in the isg cnc dialect might help.

    ISG Industrielle Steuerungstechnik GmbH
    Funktionale Integration von CNC, Robotik und Motion Control (MC)
    www.isg-stuttgart.de
    • New
    Quote from Fubini

    [...] From KUKA side basically only some safety features and the drives are used. So I am not sure if KUKA system variables like $ov_pro have an effect at all. [...]

    https://www.isg-stuttgart.de/produkte/softw…ukte/isg-kernel

    Ok, thanks for giving it a shot.

    Just for anybody else who come here, if you look at the image I shared in the original post, this is in Kuka.

    I have found the functions on that page are accessible to KRL, and to the fieldbus, except for the two I mention.

    All the M, S and T codes communicate.

    I haven't done it but I'm sure I can even share analogs with the NC.


    In the NC there is a function to change this override, but NC is, like KRL very procedural, so you can only change it when you call the function. I was wanting a dynamic override as shown in the screenshot.


    Also $OV_PRO definitely works, but it slows both G00 and G01, which, whilst useful, is a bit dirty. Also I don't think I can map OV_PRO to the fieldbus, which means another layer in the SPS, which I don't relish.

    Again, thanks for looking into it for me.

    Hamish

    • New
    Quote from SkyeFire

    The issue is, KUKA.CNC is a pretty rare beast, so the experience base is thin -- I've never used it, for example. It's also less "hackable" than regular KRL, so "under the hood" knowledge is even rarer.

    My knowledge of G00 and G01 is also only academic -- AIUI, G01 is the speed used for actual cutting, while G00 is for "air" moves. The closest analog in KRL would be LINmotions vs PTP motions, but it's not quite that simple. For one thing, does your GCode contain G00 and G01 commands? And how is KUKA.CNC translating them into robotic motions?

    Thanks for responding.

    to help with your academic knowledge: You're almost right.

    G00 is Linear "Full speed without a care in the world mode" - used for "air" moves

    G01 is Linear "Go at the prescribed cutting feedrate"

    G02 and G03 are circular "Go at the prescribed cutting feedrate"

    there is no joint mode option in CNC, as you surmised, that would be super problematic.


    Yes, my code uses all 4 commands, and is generated by Fusion360

    Thanks again for your effort.

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