Hello.
Write an article on robot Forum for the first time.
I just want to move at a constant speed to move the robot.
But not even any set, robots is not move at a constant speed.
Somehow seem to slow down the speed while the rotation axis 6.
I wonder if the robot is moving at a constant speed, which should be applied to the options.
My code is as follows approximate.
; FOLD initalization system variable
$ ADVANCE = 1
$ VEL.CP = 0.50
$ VEL.ORI1 = 400
$ VEL.ORI2 = 400
$ ACC.CP = 10
$ ACC.ORI1 = 100
$ ACC.ORI2 = 100
$ APO.CDIS = 100
$ APO.CVEL = 100
; ENDFOLD (initialization)
$ BASE = BASE_DATA [1]
$ TOOL = TOOL_DATA [1]
FOR I = 1 TO 152 STEP 1
LIN POSITION [I] C_VEL
ENDFOR
I wonder why to even the C_VEL option does not apply.
and I have KRC2.
Please answer my question.
Thank You.