Move TCP Constant Speed

    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
    ---------------------------------------------------
    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
    ------------------------------------------------


    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.

    Hi,


    Your problem comes from the fact that axis 6 has a lower speed than other axis.
    Because of that, the whole movement is slow down when axis 6 is moving.


    If you lower your overall speed below axis 6 max speed it should be ok.


    What your are trying to do might work, I already did something similar. I changed the $VEL.CP before each move where axis 6 was involved and and the movement was faster.
    However it was not easy to find the right parameters to have a constant speed for the whole movement.


    Alex

    Thank you!! Alex.
    so you mean increase $VEL.CP value.
    and increase axis 6 velocity max value in R1\Mada\$Machine.dat?
    decrease others?

    I looked at my program, when I did this it works because I was moving axis 6 only. So I increased the $VEL.CP value for this point only to reach the max value of axis 6.
    Obviously you already have reached axis 6 max value, so this would not work.
    Increase the value in the machine.dat file might be bad for the motor so I think it is better to not change it.


    Have you read the other post about the gluing application ?
    If you use KRC4 with KSS 8.2 there are SPLINE movement with constant speed that could solve your problem.


    Regards,
    Alex

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