i'm trying to move an external axis at the same time the robot its welding
it works , but i cant regulate the speed of external axis
the robot is a KR16 with archtech 20 and one axis external vertical
i generate a circle using the next points:
Ptp
Ptp
Lin
Lin
arc on lin
arc switch circ
arc switch circ
arc switch circ
arc switch circ
arc off lin
all these points is sinchronized joint at the external axis , but the speed in external axis always is the same , even i modified welding speed , acceleration .
how i can regulate the speed of external axis using arctech20?