Hi everyone,
I am currently using a KR 120 to simulate a 2D trajectory that I executed today. When we went up with our speed, we realized two things:
1) We started to get jerky point to point steps
2) Axis 4 turns 180 deg at a specific point and leads to a delay of the motion
For the first problem, we tried to make the steps bigger (Exclude each second point) and allow less accuracy by increasing "$APO.CDIS = 20" for our C_DIS. Then we tried PTP instead of LIN. The third idea was to change the initial condition of our gripper, to not have Axis 4 turn during our trajectory.
Does anyone have a better or different approach to smoothen our trajectory? we have only 20 points and I attached the linear and PTP SRC file.
Thank you very much for your help!!! 8)
L
I am currently using a KR 120 to simulate a 2D trajectory that I executed today. When we went up with our speed, we realized two things:
1) We started to get jerky point to point steps
2) Axis 4 turns 180 deg at a specific point and leads to a delay of the motion
For the first problem, we tried to make the steps bigger (Exclude each second point) and allow less accuracy by increasing "$APO.CDIS = 20" for our C_DIS. Then we tried PTP instead of LIN. The third idea was to change the initial condition of our gripper, to not have Axis 4 turn during our trajectory.
Does anyone have a better or different approach to smoothen our trajectory? we have only 20 points and I attached the linear and PTP SRC file.
Thank you very much for your help!!! 8)
L