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[Settawat]

I have program Kuka robot about additive manufacturing but I have notice Kuka robot have a temporary stop about 5-10 sec and I have seen at the program while in stop inline in program Kuka temporary stop it have cpvel =0.13 and other speed and other position of the axis so I think it should not stop. I have tried to change another program so have the same result it has a temporary stop and in the program, it not a temporary stop only 1 time in program it is more than 10 times. how can I fix this problem?

[Johannes @ Robots in Architecture]

Hello,

Can you share the code around where the robot stops, plus minus a few lines?
It hard to troubleshoot from your description alone.

Thanks,
Johannes

[Settawat]

This code has stop code such as about line number 10759,11487 and12159

Best regard,
Settawat

[Johannes @ Robots in Architecture]

Hello,

I've extracted the lines, the middle one is always the number given by you (counting in actual lines in a text editor, the display on the smartPad is sometimes different)

Code Select Expand


LIN {X 78.596, Y 89.885, Z 2.8, A 0, B 90, C -48.852, E1 23.963, E2 0, E3 0, E4 0} C_DIS
LIN {X 78.277, Y 89.145, Z 2.8, A 0, B 90, C -48.69, E1 23.997, E2 0, E3 0, E4 0} C_DIS
LIN {X 77.935, Y 88.444, Z 2.8, A 0, B 90, C -48.609, E1 24.03, E2 0, E3 0, E4 0} C_DIS


Code Select Expand


LIN {X 107.094, Y 117.564, Z 3, A 0, B 90, C -47.676, E1 14.165, E2 0, E3 0, E4 0} C_DIS
LIN {X 106.418, Y 118.471, Z 3, A 0, B 90, C -48.081, E1 14.212, E2 0, E3 0, E4 0} C_DIS
LIN {X 105.618, Y 119.512, Z 3, A 0, B 90, C -48.528, E1 14.268, E2 0, E3 0, E4 0} C_DIS


Code Select Expand


LIN {X 83.976, Y 73.52, Z 3.2, A 0, B 90, C -41.229, E1 11.983, E2 0, E3 0, E4 0} C_DIS
LIN {X 85.651, Y 73.601, Z 3.2, A 0, B 90, C -40.701, E1 12.054, E2 0, E3 0, E4 0} C_DIS
LIN {X 87.581, Y 73.778, Z 3.2, A 0, B 90, C -40.092, E1 12.136, E2 0, E3 0, E4 0} C_DIS


They all seem perfectly normal, without any big reorientations.
So if you are experience problems, I would guess that could be due to the large file size. You could try remove all lines except e.g. 10000-13000 and see if the error still occurs.

Best,
Johannes

[Settawat]

Thank for the suggestion.  I have tried to program the robot with a not large file size so  It can work continuously without a temporary stop.

Best regard,
Settawat