[velleri3mainz]

I want to import an .SRC file as a program.

During the simulation i noticed that the speed of MoveJ() commands are wrong: it was too fast. However, the speed for MoveL() commands is correct.

I am not connected to the robot. The program is already tested on a real KUKA robot without using RoboDK.

This are the settings for the speed in the program:

Code:

$VEL.CP=3
$VEL.ORI1=15
$VEL.ORI2=15
$VEL_AXIS[1]=5
$VEL_AXIS[2]=5
$VEL_AXIS[3]=5
$VEL_AXIS[4]=5
$VEL_AXIS[5]=5
$VEL_AXIS[6]=5
$ACC_AXIS[1]=5
$ACC_AXIS[2]=5
$ACC_AXIS[3]=5
$ACC_AXIS[4]=5
$ACC_AXIS[5]=5
$ACC_AXIS[6]=5

During import, only VEL.CP instructions are imported into a RoboDK set speed intruction. Everything else gets add as insert code instruction.

I manually added a set speed instruction for $VEL.ORI1 and $VEL.ORI2. After i added the instruction MoveJ were only a small amout too fast.

I did not find a way to add instructions for $VEl_AXIS and $ACC_AXIS. So the simulation and the real movement of the robot are not exactly the same.

I hope somebody can help me with this.

Best regards,

Jonas

[Albert]

RoboDK does not account for the ACC_AXIS variable when importing KUKA SRC program files.

However, you can customize program import by creating a custom import script like this example which shows you how to load a KUKA SRC file in RoboDK:
https://robodk.com/doc/en/PythonAPI/exam...a-src-file

[velleri3mainz]

If RoboDk does not account for ACC_AXIS variable, then my idea will not work.

Still thank you for the confirmation, Albert.

[Albert]

You can import KUKA src files with any text on them and RoboDK will account for that as comments if the commands are not recognized. When generating a program RoboDK will automatically output any comments as they were imported.

You can also customize how you import KUKA SRC files here:
https://robodk.com/doc/en/PythonAPI/exam...a-src-file