Path Optimization vs Cycle Time Op. = slow robot

[Doogie]

Hi All.  Great Site.

I have an RJ3iB glue robot that looks like it is running Path Optimization but is set up for Cycle Time Op.

Are there any other settings that would affect the acceleration and declaration. This robot is programmed at 700mm\sec  but moves like it is at 50-100mm\sec where the points are close together. Location of the bead is critical and we can not delete any points. 5 or 6 other robots we have are fine.

Thanks for the great site.

[raycor]

the speed of the robot depends allso with your glue equipment, some of them can go faster because they have a space where you can increase the speed of the robot (in the glue equipment) in others you can't change the speed, because the equipment can't change the speed of the glue flow. search first if the glue equipment can change the flow speed, and with that you can try increasing the speed of the robot.
first make a copy of the original program and later modify it, so if you have an error, you can solve it
also if you want, send me a "ls" copy of the glue program to  see if I can make something for you

[Doogie]

Thanks Raycor,     

We are running in the lower end of the scale for what the glue system can deliver. We had Fanuc and Nordson setup a test cell at Fanuc and spent a week refining the timing chart for Nordson and now the Fanuc TCPP calibration function seems to work better.   

I will send you an LS copy. Thanks.

The robot is a 125kg payload with a 45kg glue tool mounted on an extended 4th axis arm. It does have a different acceleration graph than a standard 210kg bot but i wounder if there are too many CR points too close together. I have not used CR points very much and don't know the motion characteristics. I'm going to run a program this weekend using good old CNT100 points. When it runs in the tight areas it slows down to a stand still, almost.   Will post my results but any info is greatly appreciated.

Thanks in advance.

[raycor]

The best way to programa  seal robot or a blue robot that is the same, is to program with CNT100 no fine moves, also there's an option in nordson equipment that recalculates the flow of the material as far as fast the robot goes, maybe you have a value that limits the flow in the nordson equipment, because I can remember that I used a seal robot with nordson and I optimized the cycle time and we have some analog values, with those we changed the speed of the robot also we have a R2000iB 125F Robot RJ3iB, in some seal or glue equipments like SCA Schucker has a value that you need to set the max speed of the robot, and you can't go faster with that value, also you can play with the values of the temperature of the equipment, and give more pressure to the equipment, to make the robot faster, so this is playing with the values till you can have a speed of 1000mm/sec, faster I can't garantee that can work well.

[Doogie]

Thanks Raycor,  I will take a look this weekend.

[Doogie]

Everything worked out well. While CR moves have their purpose CNT points are quicker in tight areas. I also tried to use the least number of points and only added in a few as needed. We went from 263 points to 177 in the end.

Thanks again.