Speed Reduction

[FM]

Hi,

I am programming a KUKA robot using the Grasshopper tool for concrete printing. The printing trajectory is pre-defined, and I intend to execute specific segments of the print using an inclined nozzle configuration. The robot operates on a linear unit, and I have already incorporated modifications in the print code to ensure that the straightening process is executed at a slower pace. However, during the transition from the inclined configuration back to the upright position, the robot's control system enforces a deceleration, with the SmartPad displaying an error message stating 'Speed reduction at point xxx.' This behavior suggests that internal safety protocols—potentially related to kinematic limits, proximity to singular configurations, or abrupt changes in motion dynamics—are triggering the enforced speed reduction. I need to determine the exact cause of this deceleration and identify strategies to mitigate it.

Thanks for your help.

[Johannes @ Robots in Architecture]

Hello,

That does not primarily sound like a pathplanning-related issue but more related to the robot setup.
I also wasn't able to find an error message saying "speed reduction at point..." - does it have an error number? Alternatively it might be something that was specifically implemented for your robot. Like a short code in your sps.sub comparing programmed speed to actual speed.

It is common that the robot slows down when it is close to singularities etc., but it usually will not create a specific error message for that.

Best,
Johannes

[FM]

Hi Johannes,

I'm getting the error KSS01053, but unfortunately I haven't been able to find any explanation or details about it.
Do you know what might be causing this or where I could find more information?

Thanks a lot in advance!

[Johannes @ Robots in Architecture]

Hello,

I found it in the error list but it does not provide any information on how the remedy it.
It is listed as error 1053 "CP-Vel. reduction point <point name> <dummy> by <reduction in %>"
I would just contact the KUKA hotline as it seems like a straightforward question. Maybe it is related to the linear axis, because we did plenty of projects with C_VEL and I never (knowingly) got that message...

Best,
Johannes