Exactly like the topic says. What's the recipe?
I'm still very new to programming and I have been experimenting with the robot speed while moving from point to point and checking how long it will take to reach that destination and to tell you guys the truth I didn't come up with a good answer.
Intuition tells me that I should use as little points as possible with CNT100 to make the moves smooth and cut the angles to reach my destination faster. It turned out that I may be wrong on that one.
There was a spot I wanted to get to without hitting into anything on the way, to do that I used two points with a cnt 100 and for testing remarked those and tried a different approach with a cnt 65 and 50( I wouldn't be able get there on 100 with those two new points). Turned out that the lower cnt was faster than the highest.
So here's my first question. Is CNT100 really the best solution for high speed movements?
What about coordinates? Almost all of the guys I asked told me that teaching the robot by moving it only by JOINT is the fastest since then only one axis turns. Which for me doesn't seem to be the complete truth since there are times that the robot moves faster if the point is tought on WORLD or TOOL. (Measured it on timer, no guessing here.)
Why is that?
I'm also curious about points motion types. What's better? Linear or Joint? I was told that I shoud use Joint(excluding situations like gripping and the like) but once more I have my doubts. In some cases linear seems to cut the path pretty effectively in my opinion, but people still had their doubts about it.
So help me guys, is it better to use Joint all the time excluding the obvious or mix the two?
Speaking of points, is it better to teach a point A then a point B and let the robot move back, allowing it to calculate the optimal path by itself and only add points where there is absolutely no chance for the guy to get there without ruining everything around, hence making like three or four points in total with long movements and turns for example? Or is it more effective to teach the robot more points by moving it only by an inch in between each of them?
One more question regarding points in general. To achieve the highest speed is it always necessary to teach points with 100% for Joint and 2000 for linear? If not, then why?
Sorry for such a long post, but it's really bugging me:P
I appreciate any advice and help you can offer.
Thanks in advance!