Posts by mike8519

Quote from beer.worapong

Try to add folder

C:\Users\YOUR USERNAME\Documents\WorkVisual Projects\Downloaded Options
C:\Users\YOUR USERNAME\Documents\WorkVisual Projects\Downloaded Projects ------Add

Running 4.0.22_Build0167 on Win10. This fixed it for me.

I had this same issue and Mookie has the right answer. The fold must be changed to

PTP HOME! Vel= 100% DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME1
BAS(#PTP_PARAMS,100)
$AXIS_HOME[1]=XHOME1
PTP XHOME1

That $OV_PRO variable may be exactly what I was looking for. I turned up the braking delay a bit for now and later I'll give the variable adjustment a shot.

Is there a manual with a listing of system variables anywhere? I did not see anything regarding the braking variables in the KRL Reference guide or the Expert Programming manual.

Thanks

It is not a motion precision problem, it is a timing issue. There is not much leeway for paused motion in the process and that short time it takes to kick back into gear is enough to have it behind where it should be. The robot is dropping off a part into a running machine and if it falls far enough behind I have a stop setup for potential collision which gets triggered.

We have a KRC4 controller and a KR16 robot controlled by an external PLC.
If there is some sort of error on the machine or it is down for any reason and the robot sits too long the brakes are applied. This is normally not a problem, but in some particular circumstances when the machine begins moving again at high speed the slight delay that is introduced by the brakes releasing causes problems. Is there a way to send a command/pulse to wake it up or eliminate/extend this idle timer?