The movement speed is variable.

    Good evening Robotics! :flower:

    I want to move at a constant speed when I move a straight line distance.
    However, as the rotational motion of 4,5,6 axis increases, There is a phenomenon that the speed goes up so quickly.

    Thank you for your help,
    young

    Thank you for your interest.

    For example, P1 P2 P3 P4 P5 points

    All points are in the straight line.

    In P3 and P4, we moved a lot of J4, J5, and J6 axes to get the pose.

    The speed is constant when passing between P1 ~ P3 and P4 ~ P5.

    However, the speed suddenly increases when passing P3 ~ P4.

    (The same values are input for all the speeds)


    * If the singularity comes, is it sometimes faster?
    Are there any more cases where the actual speed is faster than the input speed?
    :help:

    does the orientation of the TCP change significantly between P4 and P5?

    If not, then I guess that the "higher" speed is actually the programmed one. It might be, that angular speeds of the J4-J6 axes are not high enough to maintain the TCP orientation during the linear movement (P1-P3 and P4-P5 in your example) and therefore the linear speed is reduced, to allow the robot to keep the programmed TCP orientation. Then between P3-P4 the J4-J6 axes are not the problem and the robot can get up to the programmed linear speed.

    So, in short, try reducing the programmed linear speed.

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