hi
i want to move TCP in constant speed.
i use C_VEL option, but when rotate A6 axis, robot move slowly.
So, i set like below code
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PreSpeed = 0
DeltaV = 100
$IPO_MODE = #TCP ;set external tcp mode
FOR I=1 TO 201 STEP 1
CurSpeed = $VEL_ACT
IF CurSpeed < PreSpeed THEN
$VEL.ORI1 = $VEL.ORI1 + DeltaV
$VEL.ORI2 = $VEL.ORI2 + DeltaV
ELSE IF CurSpeed > PreSpeed THEN
$VEL.ORI1 = $VEL.ORI1 - DeltaV
$VEL.ORI2 = $VEL.ORI2 - DeltaV
ENDIF
LIN POSITION[I] C_VEL
PreSpeed = CurSpeed
ENDFOR
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but i don't know that this code is possible.
is this code correct?
if not i want correct code, please modify this code
i want if pre-tcp speed < current tcp speed then
$VEL.ORI1 = $VEL.ORI1 + DeltaV
$VEL.ORI2 = $VEL.ORI2 + DeltaV
so axis 6 rotate more fater and tcp speed more fater.
is that possible?
thanks.