Hi,
i am working on a KUKA Robot with a KRC4 controller (KSS 8.3).
I have an external axis that changes its position at runtime and
the Robot has to sychronize his tcp postion. That means the robot
has to follow the axis.
I solved the whole thing by using the Kuka "function generator".
Unfortunately, the robot moves too jerkily when compensating for the
devications. I think i can solve the problem by adust the parameters of
the "function generator" -> $TECHPAR[i,j]
Unfortunately i haven´t found any manual that describe exactly what
the individual parameters of the "function generator" do.
So far i have only found out that:
-> TECHPAR[x,1] is the smoothnes
-> TECHPAR[x,9] is the REL(1) / ABS(0) correction
Does anyone have a description of the "funktion generator" parameters ?
I am very grateful for any help. Thanks in advance.