Greetings All,
I am currently setting up a mirror image extension of a robot cell I programmed some time ago, and am experiencing some singularities. Cycle time is not much of an issue, so I figured I could set $CP_VEL_TYPE to #VAR_ALL, and the robot will simply limit the speed of the wrist to move through the singularity.
Unfortunately, this did not work. Some overspeed errors have gone, but I am still experiencing quite a few overspeed A6 warnings. I have examined $CP_VEL_TYPE and the variable has been successfully modified, so I am kind of stumped on this one. Any ideas?
Thanks!
Will