Posts by mikaelcecchin

Hi Corrado!

I'm glad you were able to get DirectoryLoader working.

Can you describe how you configure the software right after installation and give us an example of how you configured the main program that calls the modules?

Hi everyone

I would like to report the results of my tests change parameter APO.CDIS and C_DIS per APO.CVEL and C_VEL.

The moves are much more smooth and the pouses between movements almost disappeared.

Thank you so much Leon, it really helped me

Quote from Leon

If it helps, you can also use C_VEL instead of C_DIS. C_DIS sets smoothing at a certain distance of the point. C_VEL try's to keep a certain speed through a point.

This is not a miracle worker, like Panic mode said you can not bend the laws of nature. but during some milling operations i find it easier to use. C_DIS I only use when i need a specific radius.

Hmmmm, it sound good Leon.

I'll try this and if it works well I'll let you know.

Thank you very much!!!

Quote from panic mode

increase this value

$APO.CDIS = 1

don't be afraid to make it generous - motion planner will automatically reduce actually used approximation distance when points are close.

Thanks for help but if i increase this value i have problems with some geometries like a simple square when i have to keep the sharp corners for example.

There is some parameter that I can control the deceleration between LIN/CIRC movements?

In advantage, I have doubts about the ACC.CP parameter.

I noticed that we can adjust between 1 and 10, but I don't understand how it actually works

Maybe this parameter is related to my problem.

Quote from panic mode

code snippet in original post only shows few motion points but skips the most important part - how and what motion parameters are initialized. what is value of $ADVANCE?

thank you

$ADVANCE is set to 5

this is my initial parameters ...

$VEL.CP = 1

$VEL.ORI1 = 100

$VEL.ORI2 = 100

$ACC.CP = 1

$ACC.ORI1 = 100

$ACC.ORI2 = 100

$ADVANCE = 5

$APO.CDIS = 1

$ORI_TYPE = #VAR

$TOOL = {X 432.967, Y 0.558, Z 207.046, A -89.24, B 66.306, C -89.305}

$BASE = {X 2516.382, Y 17.498, Z 1205.042, A 45.325, B -0.585, C -0.518}

PTP {A1 0.000, A2 -140.000, A3 90.000, A4 0.000, A5 50.000, A6 0.000}

PTP {A1 -0.343, A2 -106.973, A3 105.049, A4 -15.628, A5 75.600, A6 136.874}

$VEL.CP = 0.5

LIN {X -560.396, Y 284.76, Z 346.441, A 0, B -88.205, C 90} C_DIS

LIN {X -560.396, Y 250, Z 346.441, A 0, B -88.205, C 90} C_DIS

LIN {X -560.396, Y 150, Z 346.441, A 0, B -88.205, C 90} C_DIS

LIN {X -560.062, Y 150, Z 346.161, A 0, B -88.199, C 90} C_DIS

CIRC {X -559.52, Y 150, Z 340.535, A 0, B -87.979, C 90},{X -553.894, Y 150, Z 341.077, A 0, B -88.093, C 90} C_DIS

CIRC {X -554.436, Y 150, Z 346.703, A 0, B -88.312, C 90},{X -560.062, Y 150, Z 346.161, A 0, B -88.199, C 90} C_DIS

LIN {X -558.133, Y 150.1, Z 348.655, A 0, B -88.332, C 90} C_DIS

...

Thank you for answer Mentat

But if I use a large APO.CDIS I start to have imprecision in the cornes of my geometries.

Hi everyone!

I'm new here

I would like to fix a problem with linear and circular movements.

This movements are generated by a software CAM (Sprutcam) and upload in Kuka robot (KR C2).

The movements are something like this...

...

LIN {X 460.459, Y -90.397, Z 208.034, A -37.354, B 50.352, C -134.015} C_DIS

CIRC {X 461.292, Y -88.808, Z 201.706, A -37.354, B 50.352, C -134.015},{X 461.958, Y -85.961, Z 195.815, A -37.354, B 50.352, C -134.015} C_DIS

CIRC {X 460.714, Y -82.636, Z 194.563, A -37.354, B 50.352, C -134.015},{X 458.72, Y -81.113, Z 197.37, A -37.354, B 50.352, C -134.015} C_DIS

LIN {X 458.657, Y -81.243, Z 197.598, A -37.354, B 50.352, C -134.015} C_DIS

...

But between movements we can see little pouses and decelerations.

In link below you can see what happens

https://drive.google.com/file/d/1TD6-vg_SWIYfV65N3cdkqu4vXQTxwIRv/view?usp=share_link

Someone can help me please?

Thank you