PTP driving axis variable?

[presage]

I am trying to optimise cycle times in a robotic cell.

When you make a PTP move, each axis's velocity is proportial to which ever axis will take the longest to reach its destination, what I want to know is there a variable which states which axis is the DRIVING axis, which axis is basically restricting the others.  I want to log these driving axis to change my motion paths/orientations to decrease cycle time.

I know I can log the torque on each axis but as you can imaging, the log files get large fast.

Cheers

[optimus_prime]

I do not think there exists such a variable..
Even if it exists..they will not be accessible to us.

[SkyeFire]

Don't know any clear-cut way to do this.  The only way I can think of offhand is to do it the hard way, by logging data in realtime.

The best way to do this would be using RSI, but if you don't have that, you could probably monitor the $VEL_AXIS variables.  Possibly setting up an SPS task that logs the peak value for each axis during a given move.  Since $VEL_AXIS_whatever shows a % of the axis's max rated speed, it should give you a decent first-order approximation of the relative rates of each axis.

The most straightforward way to do this is probably to use the built-in Oscilloscope (MONITOR>DIAGNOSIS) and set it up to log axis velocity during moves.  You can automate the O-Scope to a degree by manipulating the $TRACE variable in your program.