Hello
I want to make rectangular trajectories continuously at high speed and constant with a robot Fanuc M-1ia.
When I program the trajectories in 4 points. The speeds are not constant.
How to follow several points at constant speed?
thank's
Hello
I want to make rectangular trajectories continuously at high speed and constant with a robot Fanuc M-1ia.
When I program the trajectories in 4 points. The speeds are not constant.
How to follow several points at constant speed?
thank's
You can't get true constant speed going around corners as that would require infinite acceleration.
However you may be able to improve it.
Use CNT100 whenever possible, it will round your corners though.
Use higher ACC, but it is harder on the robot.
Everything comes with a tradeoff. But first let's ask why you need this? Is there another solution?
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I want to deposit a liquid on a rectangular piece (see file).
To have a uniform fluid, I must have a constant speed or near constant speed.
At first, I try to know if it is possible to reproduce this trajectory continuously at constant speed.
In a second time, until it speed I can reproduce this trajectory.
I started by simulating with an M-1iA robot ...
The best way to do this is hit and trial method. Play with it for a little while, record some positions and try to keep the initial speed at the corners high with CNT value in between 75-100 and bring the speed a bit low when going on the straight path. Try it out, you will get it.
The corners look to have a lot of radius what I can see in the picture attached. Maybe go a bit low on the CNT valu, maybe ummm 40-60.
Edit:
Normally you would use circular or arc motion to get a smooth corner, but that will cause bigger changes in speed.
What you really need is TCP prediction to control your dispense. Anything else will be trial and error like atinder stated.
Thanks for your helps.
I will try to use a linear motion for straight lines and arc motion for angles.
In a second time, i try with the prédiction TCP.
usually, I program the robots for palletizing. but it's funny to change
I had to edit my last comment. Normally I would use arc in the corner with TCP prediction.
But if you can't get tcp prediction then arc movement may make it worse.
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Another option would be to use TCP speed output option and with that you can control amount of liquid to deposit ...