Maximum approximation LIN or PTP

[Silvano]

Hello everybody.

I need to minimize the cycle time so I put all the movements "PTP CONT 100%" and "LIN CONT 300 mm" but still I can see the robot reduce the speed reaching a point and then it accelerates moving to the next point and so on for each point. I suppose the robot should move continuously so it should be not possible to understand where every single point is. Am I wrong?

The sequence I wrote is:

LIN ... 2 m/s CONT
PTP ... 100% CONT
PTP ... 100% CONT
PTP ... 100% CONT
LIN ... 2 m/s CONT

All the points are created using the KRC, so pushing "Movement" and so on...

The same problem I have when the program goes into a subroutine (or exit from a subroutine) that contains movement anyway. It seems the $ADVANCE has been stopped moving in and out of any subroutine so the movement is not continuous.
I deleted the INI fold into the subroutine but nothing has changed.

What can I check or do for these two problems?

[SkyeFire]

Depending on what moves you are making, your acceleration settings, and your payload data, there will probably always be some amount of decel/accel passing through programmed motion points.  Hard turns and reversals will make this effect especially pronounced.  Having incorrect load data will exacerbate the problem.  And some motion paths simply can't maintain speed -- any linear motion, for example, where one of the axes has to reverse direction partway through, will almost always experience some degree of speed variation.  Sometimes the route to a faster program is to slow down individual points to the speed that the robot can physically keep up with, thereby reducing the number of times the robot has to decel/accel.  If a set of points around a corner is programmed at 100%, but the trajectory of the corner can only physically be travelled at 50%, then setting the points at 100% just makes the robot work harder without increasing overall speed.

[the leg]

are you changing tool or base between moves of using any logic inputs or outputs

is $advance on 3 ?