$VEL_AXIS[7] invalid value

[lin-ycv]

I'm having an issue where my KUKA robot on a linear rail is not happy with the line
$VEL_AXIS[7] = 42.923, the error says something among the lines of invalid value

this is a PTP movement that involves moving the linear rail
in gh I'm setting a movement speed of ~1m/s for all PTP movements

based on this robot-forum dicussion here: Re: KUKA Velocity / Acceleration
we're not suppose to set the velosity in metric speed during a PTP move?
So my understanding is that line 253 is redundant?

not sure if I'm doing something wrong or if there's a bug with robots.
I'm not allowed to share the gh file publically, but if @visose needs the gh file, I can share it privately.

[visose]

Could the external axis be configured incorrectly? For example: https://www.robot-forum.com/robotforum/thread/37456-axis-type-7-invalid-value/

[lin-ycv]

I would hope not, kuka was the one that came out to configure it, we haven't changed anything. I'll double check with kuka.

[visose]

So my understanding is that line 253 is redundant?

The previous line resets the speeds of all axes and that line limits the speed of only the 7th axis to a percentage of its maximum speed (41%), since its the leading axis of that movement. The percentage is calculated based on the speed you set in mm/s.

[lin-ycv]

@visose So I've gotten a response from a kuka technician, they send 2 screenshots from the manual, apparently, $VEL_AXIS only works with A1~A6, external axis uses $VEL_EXTAX to set the speed.

Don't know if this is KSS specific, but has no one else ever encountered this issue?

[visose]

Checking the code it does seem to try to use $VEL_EXTAX when the leading joint is an external axis, so it's likely a bug. Could you share a super simple file that only contains the minimum to reproduce the issue, and uses no third party plugins except Robots?

[lin-ycv]

Here's a super zimple 2 PTP move that produces the bad KRL
GH_File.zip
It's using this robot config
RobotLib.zip

[visose]

... and uses no third party plugins except Robots

[visose]

Should be fixed in the next release: