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Process Simulate KUKA machine data

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

hello,

 

i have a question about the kuka machine data file in connection of RCS modul.

i load the correct machine data to robot.

ps works fine.

 

i load the $config.dat file from robot backup.

in these file is declared the parameters.

 

 

; PTP - MOVEMENTS
;----------------------------------
INT DEF_VEL_PTP=10
INT DEF_ACC_PTP=50

; CP - MOVEMENTS                                                 
;----------------------------------
DECL CIRC_TYPE DEF_CIRC_TYP=#BASE
DECL JERK_STRUC DEF_JERK_STRUC={CP 500.0,ORI 50000.0,AX {A1 1000.0,A2 1000.0,A3 1000.0,A4 1000.0,A5 1000.0,A6 1000.0,E1 1000.0,E2 1000.0,E3 1000.0,E4 1000.0,E5 1000.0,E6 1000.0}}
REAL DEF_GEAR_JERK=100.0
REAL DEF_VEL_CP=1.0
REAL DEF_VEL_ORI1=10.0
REAL DEF_VEL_ORI2=10.0
REAL DEF_VEL_ORIS=10.0
REAL DEF_ACC_CP=2.29999995
REAL DEF_ACC_ORI1=10.0
REAL DEF_ACC_ORI2=10.0
REAL DEF_ACC_ORIS=20.0
REAL DEF_VEL_FACT=1.0
REAL DEF_ACC_SPTP=10.0

 

 

 

when is start a operation under ps the robot drives very fast.

in log window i can see ps checks the parameter from $config.dat file.

 

But the cycle time of the operation is dosen't change.

 

with normal kuka machine data files

OnTimeReached : 10.5821641586721

 

with backup $config.dat file

OnTimeReached : 10.5821641586721

 

2014-12-28 10_42_44-Process Simulate.jpg

 

Kind regards,

Benjamin Voelzke
6 REPLIES

Re: Process Simulate KUKA machine data

Siemens Phenom Siemens Phenom
Siemens Phenom

Maybe your backup $config.dat contains same settings as the RCS default? Try to change DEF_ACC_CP in your $config.dat to see if you witness any impact.

Re: Process Simulate KUKA machine data

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

i have change all values.

but the cycle time of operation is dosen't changed.

 

REAL DATA:

 

INT DEF_VEL_PTP=100
INT DEF_ACC_PTP=50

; CP - MOVEMENTS                                                 
;----------------------------------
DECL CIRC_TYPE DEF_CIRC_TYP=#BASE
DECL JERK_STRUC DEF_JERK_STRUC={CP 500.0,ORI 50000.0,AX {A1 1000.0,A2 1000.0,A3 1000.0,A4 1000.0,A5 1000.0,A6 1000.0,E1 1000.0,E2 1000.0,E3 1000.0,E4 1000.0,E5 1000.0,E6 1000.0}}
REAL DEF_GEAR_JERK=100.0
REAL DEF_VEL_CP=1.0
REAL DEF_VEL_ORI1=200.0
REAL DEF_VEL_ORI2=200.0
REAL DEF_VEL_ORIS=200.0
REAL DEF_ACC_CP=2.29999995
REAL DEF_ACC_ORI1=100.0
REAL DEF_ACC_ORI2=100.0
REAL DEF_ACC_ORIS=200.0
REAL DEF_VEL_FACT=1.0
REAL DEF_ACC_SPTP=100.0

; APO - parameters
;--------------------------------
INT DEF_APO_CPTP=50
INT DEF_APO_CVEL=100
REAL DEF_APO_CDIS=3.0
REAL DEF_APO_CORI=5.0
REAL DEF_APO_CORIS=80.0

 

 

my data

 

INT DEF_VEL_PTP=10
INT DEF_ACC_PTP=50

; CP - MOVEMENTS                                                 
;----------------------------------

REAL DEF_GEAR_JERK=100.0
REAL DEF_VEL_CP=1.0
REAL DEF_VEL_ORI1=10.0
REAL DEF_VEL_ORI2=10.0
REAL DEF_VEL_ORIS=10.0
REAL DEF_ACC_CP=2.29999995
REAL DEF_ACC_ORI1=10.0
REAL DEF_ACC_ORI2=10.0
REAL DEF_ACC_ORIS=20.0
REAL DEF_VEL_FACT=1.0
REAL DEF_ACC_SPTP=10.0

Kind regards,

Benjamin Voelzke

Re: Process Simulate KUKA machine data

Siemens Phenom Siemens Phenom
Siemens Phenom

DEF_VEL have no influence because you have an explicit speed set on your locations. The parameters that do have an influence are ACC or VEL_ORI.

Re: Process Simulate KUKA machine data

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

i have tested again.

the robot drive every the same speed.

 

i change data in $config.dat

REAL DEF_GEAR_JERK=100.0
REAL DEF_VEL_CP=1.0
REAL DEF_VEL_ORI1=1.0
REAL DEF_VEL_ORI2=1.0
REAL DEF_VEL_ORIS=10.0

 

 

log window in ps

 

 

kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] Init Ablauf_420
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] KukaKrc Start
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] KukaKrcLib Start
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] Set VelPtp/AxisVel 10 %
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] Set VelCp 1 m/s
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] Set VelOri1 1 deg/s
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] Set VelOri2 1 deg/s
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] Set AccPtp/AxisAcc 50 %
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] Set AccCp 2.29999995 m/s2
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] Set AccOri1 10 deg/s2
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] Set AccOri2 10 deg/s2
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] SetApoCPtp 50 %
kr60l30ha[RRS]> Hinweis an Ablauf_420: [DBG] SetApoCDis 1 mm

 

kr60l30ha[RRS]> Hinweis an (Ablauf_420) KameraPos: [DBG] OnTimeReached : 10.5821641586721

Kind regards,

Benjamin Voelzke

Re: Process Simulate KUKA machine data

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

i have tested all parameters again.

 

i clear all speed parameters on locations. in this case the cycle time is slower.

 

but i search a dokumentation witch value or paramter is read for RCS connection.

 

example: my robot is connected to ext. axis.

the ext. axis joint has kinematic with prismatic joint. (VEL/Speed kinematic 1000)

 

the robot is connected to KUKA RCS.

 

the cycle time of one operation is 10,528 sec.

 

i open the ext. axis to modeling and change the kinematic speed to 10000.

 

after end modeling i test the cycle time of operation again.

 

the cycle time is 10,528 sec.

 

i search the speed parameter in connection of RCS modul.

What load ps from kuka machine data files to create the correct cycle time?

 

thanks

 

 

Kind regards,

Benjamin Voelzke

Re: Process Simulate KUKA machine data

Siemens Phenom Siemens Phenom
Siemens Phenom

If the external axis is connected to the robot then it is driven by the RCS. It means the PS internal kinematics settings are unused. It would be different if the axis was not connected and driven by # DriveDevice.

 

In your previous test, if the change VEL.ORI has no influence on cycle time, it might be that the rotation motion is not the bottleneck in your trajectory. Try by putting a higher CP speed on the locations and have more rotational motion between targets.