Hello to all,
For the last few days a had a bit of time to work with our robot and i noticed a few things that i cant explain. These things don't give any problem in using the robot but i would like to know what is going on.
The first thing is when i make a linear movement over a,b or c like for example LIN_REL{a -90} i cant control the speed at which it does this movement. I suspect it has something to do with the TCP not moving. Speed is set for the TCP in m/s so when the TCP does not move how does the robot caculate the speed for the axis?
The second thing also involves making a linear movement over a,b or c. 1 of the milling programs i use to mill the top of boxes rotates the mill over C multiple times by using LIN_REL{c -90} clockwise. It does this 3 times and kind of get all the wires tangled. So the when i am finished milling the last command is LIN_REL{c +270} which by logic should mean that the robot should move 270 degrees counterclockwise to move back to the start angle. Well surprisingly for me it does not do that, it moves another 90 degrees clockwise. The endpoint is the same so does this mean that when using a command like this that the robot will always use the shortest route and not the + or - direction used in the command.
I hope someone here can enlighten me, i am curios how this all works