Howdy,
I am trying to move the tool on a fanuc LR Mate 100i high speed (RJ2 Mate controller) along a constant helical path.
I have been able to program a helix which the robot executes, however the pitch of the helix is not constant.
The pitch that the tool goes through along the path is gradually increasing. I need the pitch to be constant.
Currently my program looks like
J P[1] where x = 0, y = 50, and z = 0 and the config is FUT 0
J P[2] where x = 0, y = 0, and z = 0, config is FUT 5.
So I have moved -50mm in the y direction while the wrist has completed 5 full revolutions about the Y axis. However it appears that either the movement of the tool along the y axis is accelerating, or the rotation of the wrist is decelerating. I am unsure which.
Is there a way I can check the accel/deccel of the various movements? And if so, how can I synchronize these two motions so that the pitch is constant? Is there a motion instruction I can use to maintain a constant pitch?
I apologize if this is a rookie question, and thank you for your time.