1 constant velocity range can be defined per CP spline block. This range is called the “constant velocity range”. So here a short example:ĭescription: In a CP spline block, a range can be defined in which the robot maintains the programmed velocity constant where possible. Spline documentation is improved a lot in V8.3. The feature is available in V8.2 too, even if documentation does not mention it. Due to the condition that the spline is C2 (smooth up to second order derivative) this leads to unwanted robot stops inside a spline block. Do not teach two positions to close to each other or SLIN-SLIN transitions.Setting these options allows the system to choose orientaion and external axis in a optimal fashion. Most applications do not need specific orientations and external axis positions at each teached position. Use $ORI_TYPE = #IGNORE and $EX_AX_IGNORE as often as possible: Teaching positions always gives you specific orientation and external axis positions the robot has to drive to at the teached positions.This leads to slow velocities during "approximation". Our personal experience: If you need to recreate "old motion approximation" inside a Spline block people most of the time tend to teach the position where approximation should start and stop to close to the "idealised" position they want to approximate.Instead teach the positions where you want approximation to start and where you want approximation to end. If you need to recreate "old motion approximation" inside a Spline block do not teach the position you want to approximate.Try to use a somewhat equidistant allocation of your teached positions. Don't use use long distances inbeetween points in combination with very short distances inbeetween points.ENDSPLINE ) always use SPL as standard motion type. New Motion (SPLINE, PTP_SPLINE, SLIN,SCIRC,SPL, SPTP) ist not old Motion (LIN,CIRC,PTP), hence teaching the same positions will not lead to the same results. Please note the following suggestions we always consider to get best Spline results: SPLINE SLIN POINT C_VEL SPL POINT //Mid point of arc SPL POINT //End of arc SLIN POINT SPL POINT SPL POINT SLIN POINT SPL POINT SPL POINT SLIN POINT SPL POINT SPL POINT SLIN START_POS ENDSPLINE C_SPLĬan anyone please shed some light on what I am doing wrong here or point me at some further documentation on the use of SPLINE - the documentation I have does not go into any detail on the use of SPLINE outside of using taught points (Kuka System Software 8.22 - Operating and Programming Instructions for System Integrators) KSS01123 Approximate positioning not possible (module TEST, block 76) (=> 1442) KSS01442 Sequence of instructions that cannot be approximated (module TEST, block 96) If I teach the points I can get a nice smooth movement, but if I feed the SPLINE block with my hard coded points then the movement is not smooth (decel / accel around each point). However I have read that I could use a SPLINE block movement to give better results, so I set about duplicating my test program with a SPLINE. Hi all - first time poster here, I have a gluing application that reqires a continuous fixed speed path movement, I have been able to get a test program (rectangle with rounded corners) working using LIN/CIRC and C_VEL using hard coded points (actual point data to be taken from CAD model of part to be glued).
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