Hi wondering why the speed of travel varies I have a part on bench I have jogged robot to all corners and marked start and end points I have set all speeds the same in program when I run program the travel is not consistant all around the part. I can speed up and down with % button on teach pendant but I would have thaught all the speeds from point to point should be the same Thank you Trev
M6i robot speed settings
-
trevpossy -
May 30, 2013 at 2:56 PM -
Thread is marked as Resolved.
-
-
did you use a CNT option at the end of any point? It's probably because of the distances between the points and the speed you programmed - for some points the robot has time to accelerate up to full speed. you can try changing the ACC to %125 (just to test) or changing the CNT
-
Don't learn people to acc 125% Hate to see that in a program
Just slow down the speed, instead of trying to get to 3000mm/sec on 20cm -
Thank you can you please explain whatCNT option is
-
Hi trevpossy
Please review your system manuals.
ACC: acceleration to a node.
CNT: termination type of the node.Lets have an example of termination;
1
2 3The robot moves from 1, through 2 to 3.
L P[1] 1000mm/s CNT100
L P[2] 1000mm/s CNT100
L P[3] 1000mm/s CNT100P[2] will almost never be actually reached by the robot, as software and hardware, "rounds out" travel from [1] to [3] through [2]. The amount of rounding is user-defined through termination type, although it is also affected by the robot speed and any process application software. The user can 'force' the robot to make P[2], by adding conditions to the movement instruction; ie CNT10 (continuous), or Fine, etc.
Remember, the controller will read well ahead of your code in real time.
In this case, the robot will still round out between P[1], and P[3], but the motion software will play back the robot closer to P[2], than with CNT100, if you specify CNT10, or Fine.
Cost for this accuracy is usually cycle time.If you need to Accelerate to a node, add the ACC option. Others have mentioned, this can be a workaround to poor path teach.
These items are part of programming that there is no blanket answer for.
Use best judgement.
-
Thank you for in depth explanation i will give it a go will take me a while to fully understand