Hello,
To improve the cycle time how many axes I should move?
An example so you can understand what I'm asking:
DECL GLOBAL E6AXIS XP1={A1 0.0, A2 -90.0, A3 90.10, A4 10.0, A5 0.0, A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6AXIS XP2={A1 1.0, A2 -90.0, A3 98.30, A4 11.110, A5 1.5, A6 2.2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6AXIS XP3={A1 97.1, A2 -90.0, A3 105.1, A4 12.0, A5 0.0, A6 60.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6AXIS XP4={A1 100.0, A2 -90.0, A3 120.0, A4 90.0, A5 45.0, A6 90.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
Someone told me that I should move maximum 3 axes. But my real points are in Cartesian system and it's difficult. The robot will be slower if I move an axis 2 or 20 degrees in the good direction?
Thank you!
https://www.robot-forum.com/robotforum/Smi…forum/merci.gif