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Acceleration peaks and strange movement

Siemens Creator Siemens Creator
Siemens Creator

Hi guys,

I'm facing a problem with strange axis movement. At the end of this simulation j4 and j6 moves very strange. Why they are not turning during the move instead of turning at the end with this high speed and acceleration? I tried to fix it by changing some attributes in motionparameters.e, but none of these i changed fixed the problem.

i'm using built-in MOP with kuka-krc controller and loaded robot backup. Another question, if i load a robot backup do the motion limits change (overwrite) according to limits which are located in backup?


(view in My Videos)

My basic motionparameters.e file without changes (changes did not improve anything).

default_config	dont_care			;
use_config	dont_use			;
config_family	cf_over_head_pos		;
joint_config_family j3	joint_cf_elbow_up	;
joint_default_config j3	dont_care		;
joint_config_family j5	joint_cf_pos		;
joint_default_config j5	dont_care		;
default_turns j1 0 0.0, j4 0 0.0, j6 0 0.0;
joint_default_turn  all 0;
joint_default_turn  j1 5;
zone_define fine no_smooth;
zone_joint_type medium	dist	;
zone_joints_param medium	0.052 0.052 0.052 0.052 0.052 0.052	;
zone_type medium	dist	;
zone_cart_param medium	20	;
zone_joint_type coarse	dist	;
zone_joints_param coarse	0.157 0.157 0.157 0.157 0.157 0.157	;
zone_type coarse	dist	;
zone_cart_param coarse	50	;
zone_joint_type nodecel	speed	;
zone_joints_param nodecel	99.0 99.0 99.0 99.0 99.0 99.0	;
zone_type nodecel	speed	;
zone_cart_param nodecel	99	;

I will be grateful for any advice.


Betreff: Acceleration peaks and strange movement

Gears Phenom Gears Phenom
Gears Phenom



i think your problem is the Home Position from Robot.

your robot drive in the movie very near to 0,-90,90,0,0,0 postion.


with these position has PS big problem.


change your start or end position to 0,-90,90,5,0,-5.


in these case PS has no problem to move to correct config.


Do you have more problem with config you must set the robot config per hand.

Kind regards,

Benjamin Voelzke