Please modify below code
------------------------------------------------------------------------
$IPO_MODE = #TCP ;set external tcp mode
PreSpeed = 0
DeltaV = 0.1
FOR I=1 TO 10 STEP 1
CurSpeed = $VEL_ACT
IF CurSpeed < PreSpeed THEN
$VEL.CP = $VEL.CP + DeltaV
ELSE
IF CurSpeed > PreSpeed THEN
$VEL.CP = $VEL.CP - DeltaV
ENDIF
ENDIF
LIN POSITION[I] C_VEL
PreSpeed = CurSpeed
ENDFOR
--------------------------------------------------------------------
CurSpeed means present TCP velocity
and PreSpeed means saved data that before present TCP velocity
i want to adjust TCP velocity for constant speed
but i tested this code, velocity not changed.
how can i modify this code for constant speed?
i can't use SPLINE bacause my robot not support.
and i use C_VEL option, but robot doesn't move constant speed.
Sorry about My poor English ability.
please modify this code for constant speed.
Thanks.