I have and RJ-2 controller with a Fanuc robot and have recently run into an odd problem. When running linear move commands in Auto mode, I notice significant slowdown when the robot has to change tool orientation. However, running programs in T2 mode, I see that the joints can each individually spin much faster than any joint spins at these problem areas. Is this representative of some auto-mode-specific joint speed limits, or an artifact of the linear move command, or something else entirely? Have combed the manual, but would appreciate any insight from the community.
RJ-2 Joint Speed Limits
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nnfuller -
March 15, 2018 at 12:16 AM -
Thread is marked as Resolved.
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There can be many reasons for a slow down. Changing user or tool frames, near singularity, motor speed limit.
When a linear motion has a tight rotation it often causes a motor to move very fast to maintain a linear TCP path.
Without seeing what you are doing it's hard to say, but generally you want to use a joint move when changing orientation.
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