ok, that's clear to me. one more question, where i can find the maximum values of each Axis stored in the robot? ie. for KR150-2, the maximum value of Axis1 is 110°/s. Where is this data stored in the controller? is it possible to edit that value?
Posts by Muhsinp007
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Thanks for the quick reply Diglo.
Your reply clarified many points that I had in doubt, however I do not understand why we can't control the velocity or accelerations when performing a PTP motion. If this is the case then what is the purpose of the $VEL_AXIS[] = ... command? They mention it in the first few examples on the expert programming manual. I understand that its a percentage of the maximum speed but what is it not applying correctly? And is this maximum speed defined somewhere on the robot?
panic mode
There is currently no payload or anything attached to the TCP of the robot. -
Hi all
I am new to the KUKA robot programming, and would like to understand how velocity and acceleration parameters work in the robot. The best way I can describe my problem is by giving an example:
So I have a PTP movement for one axis to move from lets say 0 degrees to 110 degrees. Assume that this axis is A1 (Axis 1), according to the data sheet (see attached file for KR150-2) this axis has a maximum speed of 110 degrees/sec. So if I apply the velocity command $VEL_AXIS[1] = 50, the axis should move at a speed of 55 degrees/sec, and should complete within 2 seconds, given the acceleration is set 0 (no acceleration).
However this does not happen and finishes faster than expected. Is there something I misunderstand from how the robot works?
PS. I am using KRC 2 software with a KR150-2 robot.