# Posts by sensor god

• ## the velocity constrain during running CP motion and an external axis

I don't understand how PTP and CP move.
I appriciate you told me the difference between them.

• ## the velocity constrain during running CP motion and an external axis

controller : KRC4 compact
KSS: 8.3.33

I set so that robot follows the moving base coordinate-system while E1 axis rotates.
So the robot and E1 axis are integrated.

I set \$VEL_MA as 3.0.
I' ve not tried an Oscilloscope trace.

The point is the velocity behaves differently between PTP and CP.

I think I need to learn Oscilloscope trace first.

• ## the velocity constrain during running CP motion and an external axis

Problem:
When CP motion runs during an external axis moves, the robot doesn't reach expected velocity.

Situation:
I set some of parameters as below.
-\$VEL.CP = 0.1
-\$OV_PRO = 100%

At the points from P0 to P6 , the velocity gets 0.1[m/s] running this sample code with automatic mode.
The problem is it doesn't get 0.1[m/s] from P7 where the external axis starts to move.
---------------sample------------------
LIN {X 0,Y 0,Z 0,E1 0} C_DIS ;P0
LIN {X 1000,Y 0,Z 100,E1 0} C_DIS ;P1
LIN {X -1000,Y 0,Z 100,E1 0} C_DIS ;P2
LIN {X 1000,Y 0,Z 100,E1 0} C_DIS ;P3
LIN {X -1000,Y 0,Z 100,E1 0} C_DIS ;P4
LIN {X 1000,Y 0,Z 100,E1 0} C_DIS ;P5
LIN {X -1000,Y 0,Z 100,E1 0} C_DIS ;P6

LIN {X 1000,Y 0,Z 100,E1 180} C_DIS ;P7 the external axis starts to run from here
LIN {X -1000,Y 0,Z 100,E1 359} C_DIS ;P8
---------------sample------------------