KUKA KRL - Program from Known Approach Point to Weld Joint at Slower Speed
---------------------------------------------------------Objective:
Approach the joint from a known safe position using slower linear motion.
Ensures gentle contact and precise positioning for welding.
---------------------------------------------------------Assumptions:
- TCP is calibrated
- Approach point and weld point are known
- Speed override set for approach motion
----------------------------------------------------------
DECL FRAME ApproachPos, WeldPos
DEF ApproachToJoint()
; Define positions (example values or teach manually)
ApproachPos = {X 200.0, Y 0.0, Z 300.0, A 0.0, B 0.0, C 0.0}
WeldPos = {X 200.0, Y 0.0, Z 275.0, A 0.0, B 0.0, C 0.0}
; Move to approach point at default speed
PTP ApproachPos
; Reduce linear velocity for precise approach
$VEL.CP = 0.05 ; 5% of max linear speed
; Approach slowly to weld position
LIN WeldPos
; Restore normal welding speed after approach
$VEL.CP = 0.2
; Start weld or continue logic here
CALL ArcStart()
LIN_REL {X 50.0} ; Example weld path
CALL ArcStop()
; Return to home after weld
PTP HOME
END